Brake Control System: Section

BRAKES
SECTION
BRAKE CONTROL SYSTEM
BRC B
E
CONTENTS
TYPE 1 Component Description ...........................................19 BRC
BASIC INSPECTION .................................... 7 TCS .................................................................... 20

System Diagram ......................................................20
G
APPLICATION NOTICE ...................................... 7 System Description ..................................................20
Application Notice ..................................................... 7
ABS ................................................................... 21
DIAGNOSIS AND REPAIR WORKFLOW .......... 8 System Diagram ......................................................21 H
Work Flow ................................................................. 8 System Description ..................................................21
Diagnostic Work Sheet ............................................ 11
EBD ................................................................... 22
INSPECTION AND ADJUSTMENT ....................12 System Diagram ......................................................22 I
System Description ..................................................22
ADDITIONAL SERVICE WHEN REPLACING
CONTROL UNIT ........................................................ 12 DIAGNOSIS SYSTEM [ABS ACTUATOR J
ADDITIONAL SERVICE WHEN REPLACING AND ELECTRIC UNIT (CONTROL UNIT)] ....... 23
CONTROL UNIT : Description ................................ 12 CONSULT-III Function (ABS) ..................................23
K
CONTROL UNIT : Special Repair Requirement .... 12 COMPONENT DIAGNOSIS ......................... 28
ADJUSTMENT OF STEERING ANGLE SENSOR APPLICATION NOTICE .................................... 28
NEUTRAL POSITION ................................................ 12 Application Notice ....................................................28 L
ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION : Description ........................ 12 C1101, C1102, C1103, C1104 WHEEL SEN-
ADJUSTMENT OF STEERING ANGLE SENSOR SOR-1 ................................................................ 29
M
NEUTRAL POSITION : Special Repair Require- Description ...............................................................29
ment ........................................................................ 12 DTC Logic ................................................................29
Diagnosis Procedure ...............................................29
CALIBRATION OF DECEL G SENSOR ................... 13 Component Inspection .............................................31 N
CALIBRATION OF DECEL G SENSOR : Descrip- Special Repair Requirement ....................................31
tion .......................................................................... 13
CALIBRATION OF DECEL G SENSOR : Special C1105, C1106, C1107, C1108 WHEEL SEN-
O
Repair Requirement ................................................ 13 SOR-2 ................................................................ 32
Description ...............................................................32
FUNCTION DIAGNOSIS .............................. 15 DTC Logic ................................................................32
Diagnosis Procedure ...............................................32 P
APPLICATION NOTICE .....................................15
Component Inspection .............................................34
Application Notice ................................................... 15
Special Repair Requirement ....................................34
VDC ....................................................................16
C1109 POWER AND GROUND SYSTEM ........ 35
System Diagram ...................................................... 16
Description ...............................................................35
System Description ................................................. 17
DTC Logic ................................................................35
Component Parts Location ...................................... 18
Revision: July 2007 BRC-1 2008 Xterra

Diagnosis Procedure .............................................. 35 DTC Logic ............................................................... 56
Special Repair Requirement ................................... 36 Diagnosis Procedure ............................................... 56
Component Inspection ............................................ 57
C1110, C1170 ABS ACTUATOR AND ELEC- Special Repair Requirement ................................... 57
TRIC UNIT (CONTROL UNIT) ........................... 37
DTC Logic ............................................................... 37 C1143, C1144 STEERING ANGLE SENSOR ... 58
Diagnosis Procedure .............................................. 37 Description .............................................................. 58
Special Repair Requirement ................................... 37 DTC Logic ............................................................... 58
Diagnosis Procedure ............................................... 58
C1111 ABS MOTOR, MOTOR RELAY SYS- Component Inspection ............................................ 59
TEM .................................................................... 38 Special Repair Requirement ................................... 59
Description .............................................................. 38
DTC Logic ............................................................... 38 C1145, C1146 YAW RATE/SIDE G SENSOR... 61
Diagnosis Procedure .............................................. 38 Diagnosis Procedure ............................................... 61
Special Repair Requirement ................................... 39
C1155 BRAKE FLUID LEVEL SWITCH ........... 63
Description .............................................................. 63
C1113, C1145, C1146 YAW RATE/SIDE/DE- DTC Logic ............................................................... 63
CEL G SENSOR ................................................ 40 Diagnosis Procedure ............................................... 63
Description .............................................................. 40 Component Inspection ............................................ 64
DTC Logic ............................................................... 40 Special Repair Requirement ................................... 64
Diagnosis Procedure .............................................. 40
C1156 ST ANG SEN COM CIR ......................... 66
Description .............................................................. 66
DTC Logic ............................................................... 66
C1115 WHEEL SENSOR ................................... 43 Diagnosis Procedure ............................................... 66
Description .............................................................. 43
C1160 DECEL G SEN SET ............................... 67
DTC Logic ............................................................... 43
Description .............................................................. 67
DTC Logic ............................................................... 67
C1163 ST ANGLE SEN SAFE .......................... 68
C1116 STOP LAMP SWITCH ............................ 46
Description .............................................................. 68
Description .............................................................. 46
DTC Logic ............................................................... 68
DTC Logic ............................................................... 46
Special Repair Requirement ................................... 47 C1164, C1165, C1166, C1167 CV/SV SYS-
C1120, C1122, C1124, C1126 IN ABS SOL ..... 48 TEM .................................................................... 69
Description .............................................................. 69
Description .............................................................. 48
DTC Logic ............................................................... 48 DTC Logic ............................................................... 69
C1121, C1123, C1125, C1127 OUT ABS SOL... 51 C1170 VARIANT CODING ................................ 72
Description .............................................................. 51
DTC Logic ............................................................... 51 U1000 CAN COMM CIRCUIT ............................ 73
Diagnosis Procedure .............................................. 51 Description .............................................................. 73
Component Inspection ............................................ 52 DTC Logic ............................................................... 73
Special Repair Requirement ................................... 53 Diagnosis Procedure ............................................... 73
C1130, C1131, C1132, C1133, C1136 EN- Special Repair Requirement ................................... 73
GINE SIGNAL .................................................... 54 VDC OFF SWITCH ............................................ 74
Description .............................................................. 54 Description .............................................................. 74
DTC Logic ............................................................... 54 Component Function Check ................................... 74
Diagnosis Procedure .............................................. 54 Diagnosis Procedure ............................................... 74
Special Repair Requirement ................................... 54 Component Inspection ............................................ 75
C1140 ACTUATOR RLY ................................... 56 ABS WARNING LAMP ...................................... 76
Description .............................................................. 56

Description .............................................................. 76 Description ............................................................. 104
Component Function Check .................................... 76 A
Diagnosis Procedure ............................................... 76 PRECAUTION ............................................ 105
BRAKE WARNING LAMP .................................77 PRECAUTIONS ............................................... 105
Description .............................................................. 77 Precaution for Supplemental Restraint System B
Component Function Check .................................... 77 (SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
Diagnosis Procedure ............................................... 77 SIONER" ............................................................... 105
Precaution for Brake System ................................. 105 C
VDC OFF INDICATOR LAMP ............................78 Precaution for Brake Control ................................. 105
Description .............................................................. 78 Precaution for CAN System ................................... 106
Component Function Check .................................... 78
PREPARATION ......................................... 108 D
SLIP INDICATOR LAMP ....................................79 PREPARATION ............................................... 108

Description .............................................................. 79 Special Service Tool .............................................. 108 E
Component Function Check .................................... 79 Commercial Service Tool ...................................... 108
REMOVAL AND INSTALLATION ............. 109
BRC
ECU DIAGNOSIS ......................................... 80
WHEEL SENSORS ......................................... 109
APPLICATION NOTICE .....................................80 Removal and Installation ....................................... 109
Application Notice ................................................... 80 G
SENSOR ROTOR ............................................ 110
ABS ACTUATOR AND ELECTRIC UNIT Removal and Installation ....................................... 110
(CONTROL UNIT) ..............................................81
Reference Value ..................................................... 81
ACTUATOR AND ELECTRIC UNIT (ASSEM- H
Wiring Diagram - Without Hill Descent Control/Hill BLY) ................................................................ 111
Start Assist .............................................................. 86 Removal and Installation ....................................... 111
Fail-Safe .................................................................. 93 I
STEERING ANGLE SENSOR ......................... 113
DTC No. Index ........................................................ 94
Removal and Installation ....................................... 113
SYMPTOM DIAGNOSIS .............................. 96 G SENSOR ...................................................... 114 J
APPLICATION NOTICE .....................................96 Removal and Installation ....................................... 114
Application Notice ................................................... 96 TYPE 2
K
VDC/TCS/ABS ....................................................97 BASIC INSPECTION ................................. 115
Symptom Table ....................................................... 97
APPLICATION NOTICE .................................. 115
EXCESSIVE ABS FUNCTION OPERATION Application Notice .................................................. 115 L
FREQUENCY .....................................................98
DIAGNOSIS AND REPAIR WORKFLOW ...... 116
Work Flow .............................................................. 116
M
UNEXPECTED PEDAL REACTION ..................99 Diagnostic Work Sheet .......................................... 119
INSPECTION AND ADJUSTMENT ................ 120
THE BRAKING DISTANCE IS LONG .............. 100 N
Diagnosis Procedure ............................................. 100 CONTROL UNIT ...................................................... 120
ABS FUNCTION DOES NOT OPERATE ......... 101 ADDITIONAL SERVICE WHEN REPLACING
CONTROL UNIT : Description ............................... 120 O
Diagnosis Procedure ............................................. 101
PEDAL VIBRATION OR ABS OPERATION CONTROL UNIT : Special Repair Requirement .... 120
SOUND OCCURS ............................................ 102 P
ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION .............................................. 120
VEHICLE JERKS DURING VDC/TCS/ABS ADJUSTMENT OF STEERING ANGLE SENSOR
CONTROL ........................................................ 103 NEUTRAL POSITION : Description ....................... 120
Diagnosis Procedure ............................................. 103 ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION : Special Repair Require-
NORMAL OPERATING CONDITION ............... 104 ment ....................................................................... 120

CALIBRATION OF DECEL G SENSOR ..................121 C1110, C1170 ABS ACTUATOR AND ELEC-
CALIBRATION OF DECEL G SENSOR : Descrip- TRIC UNIT (CONTROL UNIT) .......................... 145
tion .........................................................................121 DTC Logic ............................................................. 145
CALIBRATION OF DECEL G SENSOR : Special Diagnosis Procedure ............................................. 145
Repair Requirement ..............................................121 Special Repair Requirement ................................. 145
FUNCTION DIAGNOSIS ............................ 123 C1111 ABS MOTOR, MOTOR RELAY SYS-
TEM ................................................................... 146
APPLICATION NOTICE .................................. 123 Description ............................................................ 146
Application Notice ..................................................123
DTC Logic ............................................................. 146
VDC .................................................................. 124 Diagnosis Procedure ............................................. 146
System Diagram ....................................................124 Component Inspection .......................................... 147
System Description ................................................125 Special Repair Requirement ................................. 147
Component Parts Location ....................................126 C1113, C1145, C1146 YAW RATE/SIDE/DE-
Component Description .........................................127
CEL G SENSOR ............................................... 148
TCS .................................................................. 128 Description ............................................................ 148
System Diagram ....................................................128 DTC Logic ............................................................. 148
System Description ................................................128 Diagnosis Procedure ............................................. 148
Component Inspection .......................................... 149
ABS .................................................................. 129 Special Repair Requirement ................................. 149
System Diagram ....................................................129
System Description ................................................129 C1115 WHEEL SENSOR ................................. 151
Description ............................................................ 151
EBD .................................................................. 130 DTC Logic ............................................................. 151
System Diagram ....................................................130 Diagnosis Procedure ............................................. 151
System Description ................................................130 Component Inspection .......................................... 152
Special Repair Requirement ................................. 153
DIAGNOSIS SYSTEM [ABS ACTUATOR
AND ELECTRIC UNIT (CONTROL UNIT)] ..... 131 C1116 STOP LAMP SWITCH .......................... 154
CONSULT-III Function (ABS) ................................131 Description ............................................................ 154
DTC Logic ............................................................. 154
COMPONENT DIAGNOSIS ....................... 136 Diagnosis Procedure ............................................. 154
APPLICATION NOTICE .................................. 136
Application Notice ..................................................136 C1120, C1122, C1124, C1126 IN ABS SOL .... 156
Description ............................................................ 156
C1101, C1102, C1103, C1104 WHEEL SEN- DTC Logic ............................................................. 156
SOR-1 .............................................................. 137 Diagnosis Procedure ............................................. 156
Description .............................................................137 Component Inspection .......................................... 157
DTC Logic ..............................................................137 Special Repair Requirement ................................. 158
Diagnosis Procedure .............................................137
Component Inspection ...........................................139 C1121, C1123, C1125, C1127 OUT ABS SOL.. 159
Special Repair Requirement ..................................139 Description ............................................................ 159
DTC Logic ............................................................. 159
C1105, C1106, C1107, C1108 WHEEL SEN- Diagnosis Procedure ............................................. 159
SOR-2 .............................................................. 140 Component Inspection .......................................... 160
Description .............................................................140 Special Repair Requirement ................................. 161
DTC Logic ..............................................................140
Diagnosis Procedure .............................................140 C1130, C1131, C1132, C1133, C1136 EN-
Component Inspection ...........................................142 GINE SIGNAL ................................................... 162
DTC Logic ............................................................. 162
C1109 POWER AND GROUND SYSTEM ....... 143 Diagnosis Procedure ............................................. 162
Description .............................................................143 Special Repair Requirement ................................. 162
DTC Logic ..............................................................143
Diagnosis Procedure .............................................143 C1140 ACTUATOR RLY .................................. 164
DTC Logic ............................................................. 164

Component Inspection .......................................... 165 Diagnosis Procedure ............................................. 184
Special Repair Requirement ................................. 165 A
BRAKE WARNING LAMP .............................. 185
C1143, C1144 STEERING ANGLE SENSOR .. 166 Description ............................................................. 185
Description ............................................................ 166 Component Function Check .................................. 185
DTC Logic ............................................................. 166 Diagnosis Procedure ............................................. 185 B
Component Inspection .......................................... 167 VDC OFF INDICATOR LAMP ......................... 186
Special Repair Requirement ................................. 167 Description ............................................................. 186 C
Component Function Check .................................. 186
C1145, C1146 YAW RATE/SIDE G SENSOR.. 169 Diagnosis Procedure ............................................. 186
SLIP INDICATOR LAMP ................................. 187 D
C1155 BRAKE FLUID LEVEL SWITCH .......... 171 Description ............................................................. 187
Description ............................................................ 171 Component Function Check .................................. 187
DTC Logic ............................................................. 171 Diagnosis Procedure ............................................. 187 E
Component Inspection .......................................... 172 ECU DIAGNOSIS ....................................... 188
APPLICATION NOTICE .................................. 188 BRC
C1156 ST ANG SEN COM CIR ........................ 174 Application Notice .................................................. 188
Description ............................................................ 174
DTC Logic ............................................................. 174
ABS ACTUATOR AND ELECTRIC UNIT G
Diagnosis Procedure ............................................. 174 (CONTROL UNIT) ........................................... 189
Reference Value .................................................... 189
C1160 DECEL G SEN SET .............................. 175 Wiring Diagram - With Hill Descent Control/Hill
H
Description ............................................................ 175 Start Assist ............................................................ 193
DTC Logic ............................................................. 175 Fail-Safe ................................................................ 199
Diagnosis Procedure ............................................. 175 DTC No. Index ....................................................... 200
I
C1163 ST ANGLE SEN SAFE ......................... 176 SYMPTOM DIAGNOSIS ............................ 202
Description ............................................................ 176
DTC Logic ............................................................. 176 APPLICATION NOTICE .................................. 202
J
Diagnosis Procedure ............................................. 176 Application Notice .................................................. 202
C1164, C1165, C1166, C1167 CV/SV SYS- VDC/TCS/ABS ................................................ 203

TEM .................................................................. 177 Symptom Table ..................................................... 203 K
Description ............................................................ 177 EXCESSIVE ABS FUNCTION OPERATION
DTC Logic ............................................................. 177
FREQUENCY .................................................. 204
Diagnosis Procedure ............................................. 177 L
Component Inspection .......................................... 178
Special Repair Requirement ................................. 179 UNEXPECTED PEDAL REACTION ............... 205
Diagnosis Procedure ............................................. 205 M
C1170 VARIANT CODING ............................... 180
Diagnosis Procedure ............................................. 180 THE BRAKING DISTANCE IS LONG ............. 206
U1000 CAN COMM CIRCUIT ........................... 181 N
Description ............................................................ 181 ABS FUNCTION DOES NOT OPERATE ....... 207
DTC Logic ............................................................. 181 Diagnosis Procedure ............................................. 207
PEDAL VIBRATION OR ABS OPERATION O
SOUND OCCURS ........................................... 208
VDC OFF SWITCH ........................................... 182 Diagnosis Procedure ............................................. 208
Description ............................................................ 182 P
Component Function Check .................................. 182 VEHICLE JERKS DURING VDC/TCS/ABS
Diagnosis Procedure ............................................. 182 CONTROL ....................................................... 209
Component Inspection .......................................... 183 Diagnosis Procedure ............................................. 209
ABS WARNING LAMP ..................................... 184 NORMAL OPERATING CONDITION ............. 210
Description ............................................................ 184 Description ............................................................. 210
Component Function Check .................................. 184

PRECAUTION ............................................ 211 REMOVAL AND INSTALLATION ............. 216
PRECAUTIONS ............................................... 211 WHEEL SENSORS ........................................... 216
Precaution for Supplemental Restraint System Removal and Installation ....................................... 216
(SRS) "AIR BAG" and "SEAT BELT PRE-TEN-
SIONER" ................................................................211 SENSOR ROTOR ............................................. 217
Precaution for Brake System .................................211 Removal and Installation ....................................... 217
Precaution for Brake Control .................................211
ACTUATOR AND ELECTRIC UNIT (ASSEM-
Precaution for CAN System ...................................212
BLY) .................................................................. 218
PREPARATION .......................................... 214 Removal and Installation ....................................... 218
PREPARATION ............................................... 214 STEERING ANGLE SENSOR .......................... 220

Special Service Tool ..............................................214 Removal and Installation ....................................... 220
Commercial Service Tool ......................................215
G SENSOR ....................................................... 221
Removal and Installation ....................................... 221

APPLICATION NOTICE
< BASIC INSPECTION > [TYPE 1]
BASIC INSPECTION A
APPLICATION NOTICE
Application Notice INFOID:0000000003081153
B
Service information Remarks

C
TYPE 1 VDC/TCS/ABS
TYPE 2 HILL DESCENT CONTROL/HILL START ASSIST/VDC/TCS/ABS
D
BRC

DIAGNOSIS AND REPAIR WORKFLOW
Work Flow INFOID:0000000003081154
PRECAUTIONS FOR DIAGNOSIS

If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE
SENSOR NEUTRAL POSITION : Description".

OVERALL SEQUENCE
A
BRC
JSFIA0010GB
P
DETAILED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-11, "Diagnostic Work Sheet".
>> GO TO 2

2.PERFORM THE SELF-DIAGNOSIS

Check the DTC display with the self-diagnosis function. Refer to BRC-23, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3
NO >> GO TO 4
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-94, "DTC No. Index".
>> GO TO 7
4.CHECK THE SYMPTOM THAT IS NOT CONSIDERED A SYSTEM MALFUNCTION
Check that the symptom is a normal operation that is not considered a system malfunction. Refer to BRC-104,
"Description".
Is the symptom a normal operation?
YES >> INSPECTION END
NO >> GO TO 5
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-76, "Description".
• Brake warning lamp: Refer to BRC-77, "Description".
• VDC OFF indicator lamp: Refer to BRC-78, "Description".
• SLIP indicator lamp: Refer to BRC-79, "Description".
Is ON/OFF timing normal?
YES >> GO TO 6
NO >> GO TO 2
6.PERFORM THE DIAGNOSIS BY SYMPTOM
Perform the diagnosis applicable to the symptom.
>> GO TO 7
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
>> GO TO 8
8.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-23, "CONSULT-III Function (ABS)".
Is no other DTC present and the repair completed?
NO >> GO TO 3

Diagnostic Work Sheet INFOID:0000000003081155
BRC
H
SFIA3265E

INSPECTION AND ADJUSTMENT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Description
INFOID:0000000003081156
After replacing the ABS actuator and electric unit (control unit), perform the following procedures:
• Neutral position adjustment for the steering angle sensor
• Calibration of the decel G sensor
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Special Repair Re-
quirement INFOID:0000000003081157
1.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
Perform the neutral position adjustment for the steering angle sensor.
>> Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Spe-
cial Repair Requirement", GO TO 2
2.PERFORM CALIBRATION OF THE DECEL G SENSOR
Perform calibration of the decel G sensor.
>> Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
INFOID:0000000003081158
Refer to the table below to determine if adjustment of steering angle sensor neutral position is required.
×: Required –: Not required
Situation Adjustment of steering angle sensor neutral position

Removing/Installing ABS actuator and electric unit (control unit) —
Replacing ABS actuator and electric unit (control unit) ×
Removing/Installing steering angle sensor ×
Replacing steering angle sensor ×
Removing/Installing steering components ×
Replacing steering components ×
Removing/Installing suspension components ×
Replacing suspension components ×
Change tires to new ones —
Tire rotation —
Adjusting wheel alignment ×
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

pair Requirement INFOID:0000000003081159

CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-III
(Adjustment cannot be done without CONSULT-III)
1.ALIGN THE VEHICLE STATUS
Stop vehicle with front wheels in straight-ahead position.

>> GO TO 2
2.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR A
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “ST ANG SEN ADJUSTMENT” in order.
2. Touch “START”.
B
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor.
3. After approximately 10 seconds, touch “END”.
NOTE: C
After approximately 60 seconds, it ends automatically.
4. Turn ignition switch OFF, then turn it ON again.
CAUTION:
D
Be sure to perform above operation.
>> GO TO 3 E
3.CHECK DATA MONITOR
1. Run vehicle with front wheels in straight-ahead position, then stop.
2. Select “DATA MONITOR”. Then make sure “STR ANGLE SIG” is within 0±2.5°. BRC
Is the steering angle within the specified range?
YES >> GO TO 4
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1 G
4.ERASE THE SELF-DIAGNOSIS MEMORY
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM. H
• ABS actuator and electric unit (control unit): Refer to BRC-23, "CONSULT-III Function (ABS)".
• ECM: Refer to EC-68, "CONSULT-III Function (ENGINE)".
Are the memories erased?
I
NO >> Check the items indicated by the self-diagnosis.
CALIBRATION OF DECEL G SENSOR J
CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000003081160
Refer to the table below to determine if calibration of the decel G sensor is required. K
Situation Calibration of decel G sensor

L

Removing/Installing steering angle sensor × M
Replacing steering components × N
O
Tire rotation —
Adjusting wheel alignment × P
CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000003081161
CALIBRATION OF DECEL G SENSOR

CAUTION:
To calibrate the decel G sensor, make sure to use CONSULT-III
(Calibration cannot be done without CONSULT-III)


>> GO TO 2
2.PERFORM CALIBRATION OF DECEL G SENSOR
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “DECEL G SEN CALIBRATION” in order.
NOTE:
CAUTION:
>> GO TO 3
2. Select “DATA MONITOR”. Then make sure “DECEL G SEN” is within ±.
Is the inspection result normal?
YES >> GO TO 4
NO >> Perform calibration of decel G sensor again, GO TO 1
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM.

APPLICATION NOTICE
< FUNCTION DIAGNOSIS > [TYPE 1]
FUNCTION DIAGNOSIS A
APPLICATION NOTICE
B

C
TYPE 1 VDC/TCS/ABS
D
BRC

VDC
VDC
System Diagram INFOID:0000000003081163
AWFIA0198GB

VDC
HYDRAULIC CIRCUIT DIAGRAM
A
BRC
I
AWFIA0199GB
System Description INFOID:0000000003081164

J
• Vehicle Dynamics Control system detects driver′s steering operation amount and brake pedal travel from
steering angle sensor. Using information from yaw rate/side/decel G sensor and wheel sensor, VDC judges
driving condition (conditions of under steer and over steer) to improve vehicle driving stability by controlling K
brake application to 4 wheels and engine output.
• During VDC operation, it informs driver of system operation by flashing SLIP indicator lamp.
• Electrical system diagnosis by CONSULT-III is available.
L

VDC
Component Parts Location INFOID:0000000003081165
AWFIA0193GB
1. Front wheel sensor LH E18 2. Brake fluid level switch E21 3. ABS actuator and electric unit (control unit)
Front wheel sensor RH E117 E125
4. Combination meter M24 5. Steering angle sensor (behind spiral ca- 6. Yaw rate/side/decel G sensor B73
ble) M47
(Steering wheel removed for clarity)

VDC
7. Rear wheel sensor (M226 rear 8. Rear wheel sensor (C200 rear axle) LH 9. VDC OFF switch M154
axle) LH C11 C11 A
Rear wheel sensor (M226 rear Rear wheel sensor (C200 rear axle) RH
axle) RH C10 C10
10. Stop lamp switch E38
(Lower instrument panel LH re-
B
moved for clarity)
Component Description INFOID:0000000003081166

C
Component parts Reference

D
Pump
BRC-38, "Description"
Motor
Actuator relay BRC-56, "Description" E
ABS actuator and electric unit (control unit)
Solenoid valve BRC-48, "Description"
VDC switch-over valve
(CV1, CV2, SV1, SV2) BRC
Wheel sensor BRC-29, "Description"
Yaw rate/side/decel G sensor BRC-40, "Description"
G
Steering angle sensor BRC-58, "Description"
Brake fluid level switch BRC-63, "Description"
Stop lamp switch BRC-46, "Description" H
VDC OFF switch BRC-74, "Description"
ABS warning lamp BRC-76, "Description"
Brake warning lamp BRC-77, "Description"
I
VDC OFF indicator lamp BRC-78, "Description"

SLIP indicator lamp BRC-79, "Description" J

TCS
TCS
AWFIA0148GB
• Traction Control System is a function that electronically controls engine torque, brake fluid pressure and A/T
gear position to ensure the optimum slippage ratio at drive wheels by computing wheel speed signals from 4
wheel sensors. When ABS actuator and electric unit (control unit) detects a spin at drive wheels (rear
wheels), it compares wheel speed signals from all 4 wheels. At this time, LH and RH rear brake fluid pres-
sure are controlled, while fuel being cut to engine and throttle valve being closed to reduce engine torque by
the control unit. Further more, throttle position is continuously controlled to ensure the optimum engine
torque at all times.
• During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.

ABS
ABS
A
BRC
AWFIA0014GB
I
J
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu-
verability for avoiding obstacles.
• Electrical system diagnosis by CONSULT-III is available. K

EBD
EBD
AWFIA0014GB
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects
subtle slippages between the front and rear wheels during braking. Then it electronically controls the rear
braking force (brake fluid pressure) to reduce rear wheel slippage. Accordingly, it improves vehicle stability.

DIAGNOSIS SYSTEM [ABS ACTUATOR AND ELECTRIC UNIT (CONTROL
UNIT)]
A
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000003081173
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT-III.
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
BRC
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE

G
Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute. H
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp, VDC OFF indicator lamp, I
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis. J
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp,
VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the
system is normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approxi- K
mately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient). L
• VDC OFF switch should not stay “ON” position.
Display Item List
Refer to BRC-94, "DTC No. Index". M
DATA MONITOR MODE
Display Item List
N
Data monitor item selection
Item
ECU INPUT MAIN SELECTION Remarks
(Unit) O
SIGNALS SIGNALS FROM MENU
Gear position judged by PNP switch
GEAR × × ×
signal is displayed.
P
FR RH SENSOR Wheel speed calculated by front RH
× × ×
(km/h, MPH) wheel sensor signal is displayed.
FR LH SENSOR Wheel speed calculated by front LH
× × ×
RR RH SENSOR Wheel speed calculated by rear RH
× × ×

UNIT)]
Item
(Unit)
RR LH SENSOR Wheel speed calculated by rear LH
× × ×
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is dis-
(V)
played.
Shift position judged by PNP switch
N POSI SIG – – ×
signal.
P POSI SIG – – ×
signal.
Throttle valve open/close status
ACCEL POS SIG
× – × judged by CAN communication sig-
(%)
nal is displayed.
ENGINE SPEED Engine speed judged by CAN com-
× × ×
(rpm) munication signal is displayed.
STR ANGLE SIG Steering angle detected by steering
× – ×
(deg) angle sensor is displayed.
YAW RATE SEN Yaw rate detected by yaw rate sen-
× × ×
(d/s) sor is displayed.
SIDE G-SENSOR Transverse acceleration detected
× – ×
(m/s2) by side G-sensor is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
(ON/OFF) is displayed.
OFF SW VDC OFF switch (ON/OFF) status
× × ×
ABS WARN LAMP ABS warning lamp (ON/OFF) status
– × ×
SLIP LAMP SLIP indicator lamp (ON/OFF) sta-
– × ×
(ON/OFF) tus is displayed.
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
(ON/OFF) OFF) status is displayed.
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/OFF)
– × ×
(ON/OFF) status is displayed.
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
OFF LAMP OFF Lamp (ON/OFF) status is dis-
– × ×
(ON/OFF) played.
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
ACTUATOR RLY ABS actuator relay signal (ON/OFF)
– × ×

UNIT)]
Item A
(Unit)
Front side switch-over solenoid
CV1 B
– – × valve (cut valve) (ON/OFF) status is
(ON/OFF)
displayed.
Rear side switch-over solenoid
CV2
– – × valve (cut-valve) (ON/OFF) status is C
(ON/OFF)
displayed.
SV1
– – × valve (suction valve) (ON/OFF) sta- D
(ON/OFF)
tus is displayed.
SV2
– – × valve (suction valve) (ON/OFF) sta-
(ON/OFF) E
tus is displayed.
VDC FAIL SIG VDC fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS FAIL SIG TCS fail signal (ON/OFF) status is
BRC
– – ×
(ON/OFF) displayed.
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – × G
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
FLUID LEV SW Brake fluid level switch (ON/OFF) H
× – ×
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. I
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS SIGNAL TCS operation (ON/OFF) status is J
– – ×
(ON/OFF) displayed.
VDC SIGNAL VDC operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. K
Brake warning lamp (ON/OFF) sta-
EBD WARN LAMP – – ×
tus is displayed.
Shift position judged by PNP switch L
SLCT LVR POSI × × ×
signal.
R POSI SIG – – ×
signal. M
It recognizes on software whether it
2WD/4WD – – × is 2WD and whether it is in 4WD
state.
N
The input state of the key SW
CRANKING SIG – – ×
START position signal is displayed.
Release switch signal (ON/OFF)
O
status is displayed. “ON” indicates
RELEASE SW NO – – × that the brake pedal is depressed.
“OFF”“ is that the brake pedal is re-
leased. P
status is displayed. “OFF” indicates
RELEASE SW NC – – × that the brake pedal is depressed
on. “ON” is that the brake pedal is
released.
OHB FAIL – – × OHB fail status is displayed.
HBA FAIL – – × HBA fail status is displayed.

UNIT)]
Item
(Unit)
OHB operation (ON/OFF) status is
OHB SIG – – ×
displayed.
HBA operation (ON/OFF) status is
HBA SIG – – ×
displayed.
PRES CTRL ACC – – × This item is not used for this model.
PRES FAIL ACC – – × This item is not used for this model.
Stop lamp relay signal (ON/OFF)
STP OFF RLY – – ×
status is displayed.
×: Applicable
–: Not applicable
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp, VDC OFF indicator lamp, SLIP indi-
cator lamp or brake warning lamp on.
• ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp are on
during active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again, touch BACK.
Test Item
SOLENOID VALVE
• When performing an active test of the ABS function, select the “MAIN SIGNALS” for each test item. In addi-
tion, when performing an active test of the VDC/TCS function, select the item menu for each test item.
• For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN” on the display screen. For ABS solenoid valve
(ACT), touch “UP”, “ACT UP”, “ACT KEEP” and confirm that solenoid valves operate as shown in the table
below.
ABS solenoid valve ABS solenoid valve (ACT)

Operation ACTUA- ACTUA-
UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH SOL FR RH IN SOL OFF ON ON OFF OFF OFF
FR RH ABS SOLE-
NOID (ACT) FR RH OUT SOL OFF OFF ON* OFF OFF OFF
FR LH SOL FR LH IN SOL OFF ON ON OFF OFF OFF

FR LH ABS SOLE-
NOID (ACT) FR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF

RR RH ABS SOLE-
NOID (ACT) RR RH OUT SOL OFF OFF ON* OFF OFF OFF
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

RR LH ABS SOLE-
NOID (ACT) RR LH OUT SOL OFF OFF ON* OFF OFF OFF
RR RH IN SOL OFF ON ON OFF OFF OFF

RR RH OUT SOL OFF OFF ON* OFF OFF OFF
REAR SOL
RR LH IN SOL OFF ON ON OFF OFF OFF
RR LH OUT SOL OFF OFF ON* OFF OFF OFF
*: ON for 1 to 2 seconds after the touch, and then OFF

UNIT)]
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table A
below.
Operation ON OFF B
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON
C
BRC

APPLICATION NOTICE
< COMPONENT DIAGNOSIS > [TYPE 1]
COMPONENT DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

C1101, C1102, C1103, C1104 WHEEL SENSOR-1
A
Description INFOID:0000000003081175
When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current B
signals (rectangular wave) and transmits them to the ABS actuator and electric unit (control unit).
DTC Logic INFOID:0000000003081176
C
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause D

Circuit of rear RH wheel sensor is open. Or when the sen-
C1101 RR RH SENSOR-1
sor power voltage is outside the standard.
Circuit of rear LH wheel sensor is open. Or when the sen- • Harness or connector E
C1102 RR LH SENSOR-1
sor power voltage is outside the standard. • Wheel sensor
Circuit of front RH wheel sensor is open. Or when the • ABS actuator and electric unit
C1103 FR RH SENSOR-1 (control unit)
sensor power voltage is outside the standard. BRC
Circuit of front LH wheel sensor is open. Or when the
C1104 FR LH SENSOR-1
sensor power voltage is outside the standard.
DTC CONFIRMATION PROCEDURE G
1.CHECK SELF-DIAGNOSIS RESULTS

Check the self-diagnosis results. H
Self-diagnosis results
RR RH SENSOR-1 I
RR LH SENSOR-1
FR RH SENSOR-1
J
FR LH SENSOR-1
Is above displayed on the self-diagnosis display?
YES >> Proceed to diagnosis procedure. Refer to BRC-29, "Diagnosis Procedure". K
NO >> INSPECTION END
Diagnosis Procedure INFOID:0000000003081177
L
CAUTION:
Do not check between wheel sensor terminals.
M
INSPECTION PROCEDURE
1.CONNECTOR INSPECTION
Disconnect the ABS actuator and electric unit (control unit) connector and wheel sensor of malfunctioning N
code.
Check the terminals for deformation, disconnection, looseness or damage.
Is the inspection result normal? O
YES >> GO TO 2
NO >> Repair or replace as necessary.
2.CHECK WHEEL SENSOR OUTPUT SIGNAL P
1. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter.
2. Turn on the ABS active wheel sensor tester power switch.
NOTE:
The green POWER indicator should illuminate. If the POWER indicator does not illuminate, replace the
battery in the ABS active wheel sensor tester before proceeding.
3. Spin the wheel of the vehicle by hand and observe the red SENSOR indicator on the ABS active wheel
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal.
NOTE:
If the red SENSOR indicator illuminates but does not flash, reverse the polarity of the tester leads and
retest.
Does the ABS active wheel sensor tester detect a signal?
YES >> GO TO 3
NO >> Replace the wheel sensor. Refer to BRC-109, "Removal and Installation".
3.CHECK TIRES
Check for inflation pressure, wear and size of each tire.
Are tire pressure and size correct and is tire wear within specifications?
YES >> GO TO 4
NO >> Adjust tire pressure or replace tire(s).
4.CHECK WHEEL BEARINGS
Check wheel bearing axial end play. Refer to FAX-5, "On-Vehicle Inspection and Service" (front), RAX-8,
"Rear Axle Bearing" (C200 rear axle), or RAX-20, "Rear Axle Bearing" (M226 rear axle).
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-8, "Removal and Installation" (front), RAX-14,
"Removal and Installation" (C200 rear axle), or RAX-25, "Removal and Installation" (M226 rear
axle).
5.CHECK WIRING HARNESS FOR SHORT CIRCUIT
1. Disconnect ABS actuator and electric unit (control unit) connec-
tor and wheel sensor connector of malfunction code No.
2. Check continuity between wheel sensor harness connector ter-
minals and ground.
Continuity should not exist.

YES >> GO TO 6
NO >> Repair the circuit.
AWFIA0188ZZ
6.CHECK WIRING HARNESS FOR OPEN CIRCUIT

1. Check continuity between ABS actuator and electric unit (control unit) harness connector and the mal-
functioning wheel sensor harness connector.
ABS actuator and

Wheel sensor
Wheel sensor electric unit (control unit) Continuity
Connector Terminal Connector Terminal
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
YES >> Replace the ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and Instal-
lation".

Component Inspection INFOID:0000000003081178
A
On “DATA MONITOR”, select “FR LH SENSOR”, “FR RH SENSOR”, “RR LH SENSOR”, and “RR RH SEN-
SOR”, and check the vehicle speed. B
Wheel sensor Vehicle speed (DATA MONITOR)

C
FR LH SENSOR
FR RH SENSOR Nearly matches the speedometer dis-
RR LH SENSOR play (±10% or less) D
RR RH SENSOR
E
NO >> Go to diagnosis procedure. Refer to BRC-29, "Diagnosis Procedure".
Special Repair Requirement INFOID:0000000003081179 BRC
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator G
and electric unit (control unit). Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL
POSITION : Description".
H
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR
I
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit).
Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Description".
J
>> END

When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause

When the circuit in the rear RH wheel sensor is short-cir-
cuited. Or when the distance between the wheel sensor
and sensor rotor is too large and the sensor pulse cannot
be recognized by the control unit.
When the circuit in the rear LH wheel sensor is short-cir-
and sensor rotor is too large and the sensor pulse cannot • Harness or connector
be recognized by the control unit. • Wheel sensor
When the circuit in the front RH wheel sensor is short-cir- • ABS actuator and electric unit
cuited. Or when the distance between the wheel sensor (control unit)
C1107 FR RH SENSOR-2
When the circuit in the front LH wheel sensor is short-cir-
DTC CONFIRMATION PROCEDURE

Check the self-diagnosis results.
RR RH SENSOR-2
RR LH SENSOR-2
FR RH SENSOR-2
FR LH SENSOR-2
YES >> Proceed to diagnosis procedure. Refer to BRC-32, "Diagnosis Procedure".
CAUTION:
Disconnect the ABS actuator and electric unit (control unit) connector and wheel sensor of malfunctioning
code.
YES >> GO TO 2

2.CHECK WHEEL SENSOR OUTPUT SIGNAL A

NOTE:
B
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal. C
NOTE:
retest.
D
YES >> GO TO 3
NO >> Replace the wheel sensor. Refer to BRC-109, "Removal and Installation". E
3.CHECK TIRES
Are tire pressure and size correct and is tire wear within specifications? BRC
YES >> GO TO 4
G
"Rear Axle Bearing" (C200 rear axle), or RAX-20, "Rear Axle Bearing" (M226 rear axle). H
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-8, "Removal and Installation" (front), RAX-14, I
axle).
5.CHECK WIRING HARNESS FOR SHORT CIRCUIT J
2. Check continuity between wheel sensor harness connector ter- K
minals and ground.
Continuity should not exist. L

YES >> GO TO 6
NO >> Repair the circuit. M
AWFIA0188ZZ
6.CHECK WIRING HARNESS FOR OPEN CIRCUIT N

O

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
lation".

SOR”, and check the vehicle speed.

FR LH SENSOR
RR LH SENSOR play (±10% or less)
RR RH SENSOR
Special Repair Requirement INFOID:0000000003081184

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator
>> GO TO 2
>> END

C1109 POWER AND GROUND SYSTEM
A
Supplies electric power to the ABS actuator and electric unit (control unit). B
DTC DETECTION LOGIC C

• Harness or connector D
BATTERY VOLTAGE When the ABS actuator and electric unit (control unit)
C1109 • ABS actuator and electric unit
[ABNORMAL] power supply voltage is lower than normal.
(control unit)
DTC CONFIRMATION PROCEDURE E

Check the self-diagnosis results. BRC
BATTERY VOLTAGE [ABNORMAL] G

YES >> Proceed to diagnosis procedure. Refer to BRC-35, "Diagnosis Procedure". H
I
1.CHECK CONNECTOR J
1. Turn ignition switch OFF.
2. Disconnect ABS actuator and electric unit (control unit) connector.
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal. K
4. Reconnect connectors and then perform the self-diagnosis. Refer to BRC-23, "CONSULT-III Function
(ABS)".
Is any item indicated on the self-diagnosis display? L
YES >> GO TO 2
NO >> Poor connection of connector terminal. Repair or replace connector.
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT AND M
GROUND CIRCUIT
1. Turn ignition switch OFF. N
3. Turn ignition switch ON or OFF and check voltage between ABS
actuator and electric unit (control unit) harness connector termi-
nal and ground. O
ABS actuator and elec-

tric unit (control unit) — Condition Voltage P
Connector Terminal
Ignition switch: ON Battery voltage
E125 8 Ground
Ignition switch: OFF Approx. 0V
AWFIA0189ZZ

5. Check continuity between ABS actuator and electric unit (control
unit) harness connector terminals and ground.
ABS actuator and electric unit

(control unit) — Continuity
Connector Terminal
E125 16, 47 Ground Yes
AWFIA0016ZZ

YES >> Check battery for terminal looseness, low voltage, etc. If any malfunction is found, repair malfunc-
tioning parts.
NO >> Repair or replace malfunctioning components.

>> GO TO 2
>> END

C1110, C1170 ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
A
DTC DETECTION LOGIC B

When there is an internal malfunction in the ABS actuator C
C1110 CONTROLLER FAILURE • ABS actuator and electric unit
and electric unit (control unit).
(control unit)
C1170 VARIANT CODING In a case where VARIANT CODING is different.
D
Check the self-diagnosis results. E
BRC
CONTROLLER FAILURE
VARIANT CODING
Is above displayed on the self-diagnosis display? G
H
I
1.REPLACE ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
J
>> Replace ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and Installa-
tion".
K
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION L

M
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR N
O
>> END

C1111 ABS MOTOR, MOTOR RELAY SYSTEM
PUMP
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control
unit).
DTC DETECTION LOGIC

During the actuator motor operating with ON, when the
actuator motor turns OFF, or when the control line for ac-
tuator motor relay is open. • Harness or connector
C1111 PUMP MOTOR • ABS actuator and electric unit
During the actuator motor operating with OFF, when the (control unit)
actuator motor turns ON, or when the control line for relay
is shorted to ground.

PUMP MOTOR
1.CHECK CONNECTOR
3. Check terminal for deformation, disconnect, looseness, and so on. If any malfunction is found, repair or
replace terminal.
(ABS)".
Is any item indicated on the self-diagnosis display?
YES >> GO TO 2
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

2. Disconnect ABS actuator and electric unit (control unit) connec- A
tor.
3. Check voltage between the ABS actuator and electric unit (con-
trol unit) harness connector terminal and ground.
B

— Voltage
Connector Terminal C
E125 1 Ground Battery voltage
Is the inspection result normal? AWFIA0017ZZ
YES >> GO TO 3 D
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT E
Check continuity between ABS actuator and electric unit (control
BRC
— Continuity
Connector Terminal
E125 16, 47 Ground Yes G
YES >> Replace ABS actuator and electric unit (control unit).
H
Refer to BRC-111, "Removal and Installation".
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. On “ACTIVE TEST”, select “ABS MOTOR”. J
2. Touch ON and OFF on screen. Make sure motor relay and actuator relay operates as shown in table
below.
K
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON L
M
N
and electric unit (control unit). Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL O
>> GO TO 2 P
>> END

C1113, C1145, C1146 YAW RATE/SIDE/DECEL G SENSOR
The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the
data to the ABS actuator and electric unit (control unit) as an analog voltage signal.
DTC DETECTION LOGIC

Longitudinal G-sensor is malfunctioning, or signal line of
C1113 G-SENSOR
longitudinal G-sensor is open or shorted.
• Harness or connector
Yaw rate sensor is malfunctioning, or the yaw rate sensor • ABS actuator and electric unit
C1145 YAW RATE SENSOR
signal line is open or shorted. (control unit)
• Yaw rate/side/decel G sensor
Side G sensor is malfunctioning, or circuit of side G sen-
C1146 SIDE G-SEN CIRCUIT
sor is open or shorted.

G-SENSOR
YAW RATE SENSOR
SIDE G-SEN CIRCUIT
CAUTION:
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. when VDC function is OFF may
cause the yaw rate/side/decel G sensor system to indicate a malfunction. This is not a malfunction if
normal operation can be resumed after restarting the engine.
• If vehicle is on turn table at entrance to parking garage, or on other moving surface, VDC OFF indica-
tor lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system mal-
function. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of
turn table or other moving surface, and start engine. Results will return to normal.
Disconnect the ABS actuator and electric unit (control unit) connector and yaw rate/side/decel G sensor con-
nector.
YES >> GO TO 2
2.YAW RATE/SIDE/DECEL G SENSOR HARNESS INSPECTION

Check continuity between the ABS actuator and electric unit (control
unit) connector E125 (A) terminals 18, 19, 22, 29 and the yaw rate/ A
side/decel G sensor connector B73 (B) terminals 2, 1, 3, 5.

Yaw rate/side/decel G sensor B
(control unit) Continuity
18 2 C
19 1
E125 (A) B73 (B) Yes
AWFIA0190ZZ
22 3
D
29 5
YES >> GO TO 3 E
3.YAW RATE/SIDE/DECEL G SENSOR INSPECTION
BRC
1. Connect the yaw rate/side/decel G sensor connector and ABS actuator and electric unit (control unit) con-
nector.
2. Use “DATA MONITOR” to check if the yaw rate/side/decel G sensor signals are normal.
G
YAW RATE SEN SIDE G-SENSOR DECEL G-SEN
Vehicle condition
(DATA MONITOR) (DATA MONITOR) (DATA MONITOR)
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G H
Turning right Negative value Negative value -
Turning left Positive value Positive value -
I
Speed up - - Negative value
Speed down - - Positive value
Is the inspection result normal? J
lation".
NO >> Replace the yaw rate/side/decel G sensor. Refer to BRC-114, "Removal and Installation". K
1.CHECK DATA MONITOR L

Select “YAW RATE SEN”, “SIDE G-SENSOR”, “DECEL G-SEN” in “DATA MONITOR” and check yaw rate/
side/decel G sensor signal.
M
Vehicle condition
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G N
O
Is the inspection result normal? P

>> GO TO 2
>> END

C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
C
DTC DETECTION LOGIC

ABS SENSOR • Wheel sensor
C1115 When wheel sensor input signal is malfunctioning.
[ABNORMAL SIGNAL] • ABS actuator and electric unit E
(control unit)

1.CHECK SELF-DIAGNOSIS RESULTS BRC

G
ABS SENSOR [ABNORMAL SIGNAL]
Is above displayed on the self-diagnosis display? H
I
CAUTION:
Do not check between wheel sensor terminals. J
1.CONNECTOR INSPECTION K
code.
Check the terminals for deformation, disconnection, looseness or damage. L
YES >> GO TO 2
NO >> Repair or replace as necessary. M
2.CHECK WHEEL SENSOR OUTPUT SIGNAL
1. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter. N
NOTE:
battery in the ABS active wheel sensor tester before proceeding. O
NOTE: P
retest.
YES >> GO TO 3
3.CHECK TIRES
C1115 WHEEL SENSOR
YES >> GO TO 4
"Rear Axle Bearing" (C200 rear axle), or RAX-20, "Rear Axle Bearing" (M226 rear axle).
YES >> GO TO 5
axle).
minals and ground.

YES >> GO TO 6
AWFIA0188ZZ

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
lation".


C1115 WHEEL SENSOR
FR LH SENSOR
A
RR RH SENSOR B
NO >> Go to diagnosis procedure. Refer to BRC-43, "Diagnosis Procedure". C
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION D
E
>> GO TO 2 BRC
Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Description". G
>> END
H

C1116 STOP LAMP SWITCH
The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit
(control unit).
DTC DETECTION LOGIC

• Stop lamp switch
C1116 STOP LAMP SW When stop lamp switch circuit is open.
• ABS actuator and electric unit
(control unit)

STOP LAMP SW
1. Disconnect the ABS actuator and electric unit (control unit) connector and stop lamp switch connector.
2. Check the terminals for deformation, disconnection, looseness or damage.
YES >> GO TO 2
2.STOP LAMP SWITCH INSPECTION
1. Connect the stop lamp switch harness connector.
2. Check the voltage between the ABS actuator and electric unit
(control unit) harness connector E125 terminal 39 and body
ground.
Brake pedal depressed : Battery voltage

(approx. 12V)
Brake pedal not depressed : Approx. 0V
YES >> Perform self-diagnosis again. If the same results
appear, replace ABS actuator and electric unit (control AWFIA0191ZZ
unit). Refer to BRC-111, "Removal and Installation".
NO >> GO TO 3
3.STOP LAMP SWITCH CIRCUIT INSPECTION

1. Disconnect the stop lamp switch harness connector.
2. Check the continuity between the ABS actuator and electric unit A
(control unit) harness connector E125 (A) terminal 39 and stop
lamp switch harness connector E38 (B) terminal 2.
B
Continuity should exist.
YES >> Refer to BRC-8, "Work Flow". C
AWFIA0192ZZ
D
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION E

BRC
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR G
H
>> END

C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig-
nals transmitted by the ABS actuator and electric unit (control unit).
DTC DETECTION LOGIC

When the control unit detects a malfunction in the front
C1120 FR LH IN ABS SOL
LH inlet solenoid circuit.
C1122 FR RH IN ABS SOL
RH inlet solenoid circuit. • ABS actuator and electric unit
When the control unit detects a malfunction in the rear LH (control unit)
C1124 RR LH IN ABS SOL
inlet solenoid circuit.
When the control unit detects a malfunction in the rear
C1126 RR RH IN ABS SOL
RH inlet solenoid circuit.

FR LH IN ABS SOL
FR RH IN ABS SOL
RR LH IN ABS SOL
RR RH IN ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
2.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACTUATOR RELAY POWER SUPPLY CIRCUIT

C1120, C1122, C1124, C1126 IN ABS SOL
tor.
3. Check voltage between ABS actuator and electric unit (control
unit) harness connector terminal and ground.
B

— Voltage
YES >> GO TO 3 D
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT E
BRC
— Continuity
Connector Terminal
H
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“. J
2. On the display, touch “UP”, “KEEP”, and “DOWN”, and check that the system operates as shown in the
table below.
K
UP KEEP DOWN UP
TOR UP TOR KEEP
L
FR RH ABS SOLE-
M
FR LH ABS SOLE-
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF N

RR RH ABS SOLE-
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF O

RR LH ABS SOLE-

P
REAR SOL

C1120, C1122, C1124, C1126 IN ABS SOL

>> GO TO 2
>> END

C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
C
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
When the control unit detects a malfunction in the front E
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. • ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit. BRC
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.

FR LH OUT ABS SOL I
FR RH OUT ABS SOL
RR LH OUT ABS SOL
J
RR RH OUT ABS SOL
L
1.CHECK CONNECTOR M
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or N
replace terminal.
(ABS)".
O
YES >> GO TO 2
P

C1121, C1123, C1125, C1127 OUT ABS SOL
tor.

— Voltage
Connector Terminal
YES >> GO TO 3
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“.
table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL

C1121, C1123, C1125, C1127 OUT ABS SOL
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR D
E
>> END
BRC

C1130, C1131, C1132, C1133, C1136 ENGINE SIGNAL
ABS actuator and electric unit (control unit) and ECM exchange the engine signal with CAN communication
line.
DTC DETECTION LOGIC

C1130 ENGINE SIGNAL 1
Based on the signal from ECM, ABS actuator and electric • ABS actuator and electric unit
C1132 ENGINE SIGNAL 3 unit (control unit) judges that engine fuel cut system is (control unit)
malfunctioning. • ECM
• CAN communication line

ENGINE SIGNAL 1
ENGINE SIGNAL 2
ENGINE SIGNAL 3
ENGINE SIGNAL 4
ENGINE SIGNAL 6
1.CHECK ENGINE SYSTEM
1. Perform ECM self-diagnosis. Repair or replace items indicated, then perform ECM self-diagnosis again.
Refer to EC-68, "CONSULT-III Function (ENGINE)".
2. Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-23, "CONSULT-III Func-
tion (ABS)".
YES >> Repair or replace the affected part.

>> GO TO 2

2.CALIBRATION OF DECEL G SENSOR A

B
>> END
BRC

C1140 ACTUATOR RLY
C1140 ACTUATOR RLY
Activates or deactivates each solenoid valve according to the signals transmitted by the ABS actuator and
electric unit (control unit).
DTC DETECTION LOGIC

C1140 ACTUATOR RLY ABS actuator relay or circuit malfunction. • ABS actuator and electric unit
(control unit)

ACTUATOR RLY
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
tor.

— Voltage
Connector Terminal
YES >> GO TO 3
C1140 ACTUATOR RLY
unit) harness connector terminals and ground. A

— Continuity
Connector Terminal B
Is the inspection result normal? C
AWFIA0016ZZ
D
1.CHECK ACTIVE TEST E

1. On “ACTIVE TEST”, select “ABS MOTOR”.
below. BRC
Operation ON OFF
MOTOR RELAY ON OFF G
ACTUATOR RLY ON ON
Is the inspection result normal? H
Special Repair Requirement INFOID:0000000003081229 I

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator J
K
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR L
M
>> END

C1143, C1144 STEERING ANGLE SENSOR
The steering angle sensor detects the rotation amount, angular velocity and direction of the steering wheel,
and transmits the data to the ABS actuator and electric unit (control unit) via CAN communication.
DTC DETECTION LOGIC

Neutral position of steering angle sensor is dislocated, or • Harness or connector
C1143 ST ANG SEN CIRCUIT
the steering angle sensor is malfunctioning. • Steering angle sensor
• 4WAS control unit (4WAS
models)
C1144 ST ANG SEN SIGNAL Neutral position of steering angle sensor is not finished. • ABS actuator and electric unit
(control unit)

ST ANG SEN CIRCUIT
ST ANG SEN SIGNAL
1.CHECK CONNECTOR
3. Disconnect steering angle sensor connector.
replace terminal.
(ABS)"
YES >> GO TO 2
2.CHECK STEERING ANGLE SENSOR HARNESS

2. Disconnect steering angle sensor connector. A
3. Check continuity between steering angle sensor harness con-
nector M47 terminal 1 and ground.
B
Steering angle sensor
— Continuity
Connector Terminal
M47 1 Ground Yes C
AWFIA0194ZZ
D
4. Turn ignition switch ON.
5. Check voltage between steering angle sensor harness connec-
tor M47 terminal 2 and ground. E

— Voltage
Connector Terminal BRC
M47 2 Ground Battery voltage
G
YES >> GO TO 3
AWFIA0195ZZ
3.CHECK DATA MONITOR H
1. Connect the steering angle sensor connector and ABS actuator and electric unit (control unit) connector.
2. Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
I
Steering condition STR ANGLE SIG (DATA MONITOR)
Driving straight ±2.5 °
Turn 90 ° to right Approx. +90 °
J
Turn 90 ° to left Approx. −90 °

Is the inspection result normal? K
YES >> Replace ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and Installa-
tion".
NO >> Replace steering angle sensor and adjust neutral position of steering angle sensor. Refer to BRC- L
113, "Removal and Installation".
M
Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
N
O

>> GO TO 2
>> END

C1145, C1146 YAW RATE/SIDE G SENSOR
A
CAUTION: B
Sudden turns (such as spin turns, acceleration turns), drifting, etc. when VDC function is OFF may
cause the yaw rate/side/decel G sensor system to indicate a problem. This is not a problem if normal
operation can be resumed after restarting the engine.
C
1.SELF-DIAGNOSIS RESULT CHECK
Check self-diagnosis results. D
E
YAW RATE SENSOR
SIDE G-SEN CIRCUIT
G-SENSOR BRC
CAUTION:
If vehicle is on turntable at entrance to parking garage, or on other moving surface, VDC OFF indicator
lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system malfunc- G
tion. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of turn-
table or other moving surface, and start engine. Results will return to normal.
Is the above displayed in the self-diagnosis display items? H
YES >> GO TO 2.
NO >> Inspection End.
2.CONNECTOR INSPECTION I
nector.
Check the terminals for deformation, disconnection, looseness or damage. J
YES >> GO TO 3.
NO >> Repair or replace as necessary. K
1. Turn off the ignition switch. L
2. Check continuity between the ABS actuator and electric unit (control unit) connector E125 and the yaw
rate/side/decel G sensor connector B73.
M
ABS actuator and electric unit Yaw rate/side/decel G sensor
(control unit) harness connector harness connector B73 Continuity
E125 N
18 2 Yes
19 1 Yes O
22 3 Yes
29 5 Yes
YES >> GO TO 4.
1. Connect the yaw rate/side/decel G sensor connector B73 and ABS actuator and electric unit (control unit)
connector E125.

Yaw rate sensor Side G sensor Decel G Sensor

Vehicle status
(Data monitor standard) (Data monitor standard) (Data monitor standard)
When stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G
Right turn Negative value Negative value -
Left turn Positive value Positive value -
YES >> Inspection End.
NO >> Replace the yaw rate/side/decel G sensor. Refer to BRC-114, "Removal and Installation".

C1155 BRAKE FLUID LEVEL SWITCH
A
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu- B
ator and electric unit (control unit).
C
DTC DETECTION LOGIC

Brake fluid level is low or communication line between • Harness or connector
C1155 BR FLUID LEVEL LOW the ABS actuator and electric unit (control unit) and brake • Brake fluid level switch
fluid level switch is open or shorted. • Brake fluid level E
Self-diagnosis results G
BR FLUID LEVEL LOW
H
Diagnosis Procedure INFOID:0000000003081243 I
1.CONNECTOR INSPECTION J
1. Disconnect ABS actuator and electric unit (control unit) connector and brake fluid level switch connector.
K
YES >> GO TO 2
L
2.CHECK HARNESS BETWEEN BRAKE FLUID LEVEL SWITCH AND ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT)
1. Check continuity between ABS actuator and electric unit (control M
unit) harness connector E125 (A) terminal 28 and brake fluid
level switch harness connector E21 (B) terminal 1.
N
Brake fluid level switch
Connector Terminal Connector Terminal O
E125 (A) 28 E21 (B) 1 Yes
unit) harness connector E125 (A) terminal 28 and ground. AWFIA0196ZZ P

— Continuity
Connector Terminal
E125 (A) 28 Ground No

YES >> GO TO 3
3.CHECK BRAKE FLUID LEVEL SWITCH GROUND
Check continuity between brake fluid level switch harness connector
E21 terminal 2 and ground.

— Continuity
Connector Terminal
E21 2 Ground Yes
YES >> GO TO 4
AWFIA0026ZZ
4.CHECK BRAKE FLUID LEVEL SWITCH

Check continuity between brake fluid level switch terminals.

Condition Continuity
Terminal
When brake fluid is full in the reser-
No
voir tank.
1−2
When brake fluid is empty in the
Yes
reservoir tank.
ALFIA0026ZZ
appear, replace ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and
Installation".
NO >> Replace brake fluid level switch.

2. Disconnect brake fluid level switch connector.
3. Check continuity between brake fluid level switch terminals.

Terminal
No
voir tank.
1−2
Yes
reservoir tank.
ALFIA0026ZZ


>> GO TO 2
B
>> END
C
BRC

C1156 ST ANG SEN COM CIR
The steering angle sensor is connected to the ABS actuator and electric unit (control unit) in addition to CAN
lines. CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle
multiplex communication line with high data communication speed and excellent error detection ability. Many
electronic control units are equipped onto a vehicle, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less
wiring. Each control unit transmits/receives data but selectively reads required data only.
DTC DETECTION LOGIC

When steering angle sensor is not transmitting CAN • CAN communication line
C1156 ST ANG SEN COM CIR communication signal to the ABS actuator and electric • Steering angle sensor
unit (control unit). • ABS actuator and electric unit
(control unit)

ST ANG SEN COM CIR
1.CHECK CONNECTOR
1. Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector E125,
check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
2. Reconnect connector and perform self-diagnosis.
CAN COMM CIRCUIT
ST ANG SEN COM CIR
YES >> Refer to LAN-14, "Trouble Diagnosis Flow Chart".

C1160 DECEL G SEN SET
A
The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the B
C
DTC DETECTION LOGIC

• Decel G sensor calibration
C1160 DECEL G SEN SET ABS decel G sensor adjustment is incomplete.
• ABS actuator and electric unit E
(control unit)


G
DECEL G SEN SET
I
INSPECTION PROCEDURE J
1.PERFORM SELF-DIAGNOSIS
Perform ABS actuator and electric unit (control unit) self-diagnosis.
K
DECEL G SEN SET
L
Do self-diagnosis results indicate anything other than shown above?
YES >> Perform repair or replacement for the item indicated.
NO >> Perform calibration of decel G sensor. Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR M
: Description". GO TO 2
2.PERFORM SELF-DIAGNOSIS AGAIN
1. Turn the ignition switch to OFF and then to ON and erase self-diagnosis results. N
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
Are any self-diagnosis results displayed?
O
YES >> Replace yaw rate/side/decel G sensor. Refer to BRC-114, "Removal and Installation".

C1163 ST ANGLE SEN SAFE
DTC DETECTION LOGIC

• Adjust steering angle sensor
C1163 ST ANGL SEN SAFE When steering angle sensor is in safe mode.
neutral position

ST ANGL SEN SAFE
Adjust steering angle sensor neutral position. Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SEN-
SOR NEUTRAL POSITION : Description".
>> GO TO 2
2.INDICATOR LAMP CHECK
Check that VDC OFF indicator lamp is off.
Is VDC OFF indicator lamp off?
NO >> Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-23, "CONSULT-
III Function (ABS)".

C1164, C1165, C1166, C1167 CV/SV SYSTEM
C1164, C1165, C1166, C1167 CV/SV SYSTEM
A
CV1, CV2 (CUT VALVE) B

The cut valve shuts off the normal brake fluid path from the master cylinder, when VDC/TCS is activated.
SV1, SV2 (SUCTION VALVE)
The suction valve supplies the brake fluid from the master cylinder to the pump, when VDC/TCS is activated. C
D
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause E

VDC switch-over solenoid valve (CV1) on the primary
C1164 CV1 side is open circuit or shorted, or the control line is open
or shorted to the power supply or the ground.
BRC
or shorted to the power supply or the ground. • Harness or connector
• ABS actuator and electric unit G
VDC switch-over solenoid valve (SV1) on the primary (control unit)
C1166 SV1 side is open circuit or shorted, or the control line is open
VDC switch-over solenoid valve (SV2) on the primary H
DTC CONFIRMATION PROCEDURE I

Check the self-diagnosis results. J
CV1 K
CV2
SV1
L
SV2
YES >> Proceed to diagnosis procedure. Refer to BRC-69, "Diagnosis Procedure". M
N
1.CHECK CONNECTOR O
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or P
replace terminal.
(ABS)".
YES >> GO TO 2

C1164, C1165, C1166, C1167 CV/SV SYSTEM
tor.

— Voltage
Connector Terminal
YES >> GO TO 3

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

2. On the display, touch “UP”, “ACT UP”, and “ACT KEEP”, and check that the system operates as shown in
the table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL

C1164, C1165, C1166, C1167 CV/SV SYSTEM
YES >> INSPECTION END A
B
Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator C
D
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). E
>> END BRC

C1170 VARIANT CODING
Check self-diagnosis results.
CONTROLLER FAILURE
VARIANT CODING
Is the above displayed in the self-diagnosis display items?
tion".

U1000 CAN COMM CIRCUIT
A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring. C
Each control unit transmits/receives data but selectively reads required data only.
D
DTC DETECTION LOGIC

E
When ABS actuator and electric unit (control unit) is not • CAN communication line
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2 • ABS actuator and electric unit
seconds or more. (control unit) BRC
G
1.CHECK CONNECTOR
H
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector, and check
the terminals for deformation, disconnection, looseness, and so on. If there is a malfunction, repair or
replace the terminal.
2. Reconnect connector and perform self-diagnosis. I
Is “CAN COMM CIRCUIT” displayed in self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to LAN-14, "Trouble Diagnosis Flow Chart".
NO >> Connector terminal is loose, damaged, open, or shorted. J
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION K
and electric unit (control unit). Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL L
>> GO TO 2 M
Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Description". N
>> END
O

VDC OFF SWITCH
VDC OFF SWITCH
VDC OFF switch can deactivate (turn OFF) the VDC/TCS function by pressing the VDC OFF switch.
Component Function Check INFOID:0000000003081276
1.CHECK VDC OFF SWITCH OPERATION

Turn ON/OFF the VDC OFF switch and check that the VDC OFF indicator lamp in the combination meter turns
ON/OFF correctly.
Condition VDC OFF indicator lamp illumination status

VDC OFF switch: ON ON
VDC OFF switch: OFF OFF
1.CHECK VDC OFF SWITCH

2. Disconnect VDC OFF switch connector.
3. Check continuity between VDC OFF switch terminals.
VDC OFF switch

Terminal
When VDC OFF switch is pressed. Yes
1−2
When VDC OFF switch is released. No
PFIA0307E
YES >> GO TO 2
NO >> Replace VDC OFF switch.
2.CHECK VDC OFF SWITCH HARNESS
tor.
unit) connector E125 (A) terminal 6 and VDC OFF switch con-
nector M154 (B) terminal 1.

VDC OFF switch
E125 (A) 6 M154 (B) 1 Yes
AWFIA0197ZZ

unit) connector E125 (A) terminal 6 and ground.

— Continuity
Connector Terminal
YES >> GO TO 3

VDC OFF SWITCH
NO >> Repair or replace harness.
3.CHECK VDC OFF SWITCH GROUND A
Check continuity between VDC OFF switch connector M154 terminal

2 and ground.
B
VDC OFF switch

— Continuity
M154 2 Ground Yes
YES >> GO TO 4 D
AWFIA0031ZZ
4.CHECK COMBINATION METER E

Check if the indication and operation of combination meter are normal. Refer to MWI-23, "Diagnosis Descrip-
tion".
Is the inspection result normal? BRC
tion".
NO >> Replace combination meter. Refer to MWI-90, "Removal and Installation". G
H
1. Turn ignition switch OFF. I
J
VDC OFF switch
Terminal
K
1−2
Is the inspection result normal? L
PFIA0307E
M

ABS WARNING LAMP
ABS WARNING LAMP
×: ON –: OFF
Condition ABS warning lamp

Ignition switch OFF –
For 1 second after turning ON ignition switch ×
1 second later after turning ON ignition switch –
ABS function is malfunctioning. ×
EBD function is malfunctioning. ×
1.CHECK ABS WARNING LAMP OPERATION

Check that the lamp illuminates for approximately 1 second after the ignition switch is turned ON.
1.CHECK SELF-DIAGNOSIS
Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-23, "CONSULT-III Function
(ABS)".
YES >> GO TO 2
NO >> Check items displayed by self-diagnosis.
2.CHECK COMBINATION METER
tion".
tion".
NO >> Replace combination meter. Refer to MWI-90, "Removal and Installation".

BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
×: ON –: OFF B
Condition Brake warning lamp (Note 1)
For 1 second after turning ON ignition switch × (Note 2) C
1 second later after turning ON ignition switch × (Note 2)
D
NOTE:
• 1: Brake warning lamp will turn on in case of parking brake operation (when switch is ON) or of brake fluid level switch operation
(when brake fluid is insufficient). E
• 2: After starting engine, brake warning lamp is turned off.
BRC
1.BRAKE WARNING LAMP OPERATION CHECK
G
H
1.CHECK SELF-DIAGNOSIS I
YES >> GO TO 2 J
2.CHECK COMBINATION METER K
tion".
tion".
NO >> Replace combination meter. Refer to MWI-90, "Removal and Installation". M

VDC OFF INDICATOR LAMP
×: ON –: OFF
Condition VDC OFF indicator lamp

VDC OFF switch turned ON. (VDC function is OFF.) ×
VDC/TCS function is malfunctioning. ×
1.VDC OFF INDICATOR LAMP OPERATION CHECK 1

YES >> GO TO 2
Check that the VDC OFF indicator lamp in the combination meter turns ON/OFF correctly when operating the
VDC OFF switch.
NO >> Check VDC OFF switch. Refer to BRC-74, "Diagnosis Procedure".

VDC OFF switch.
YES >> GO TO 2
(ABS)".
YES >> GO TO 3
tion".
tion".

SLIP INDICATOR LAMP
SLIP INDICATOR LAMP
A
×: ON –: OFF B
Condition SLIP indicator lamp
For 1 second after turning ON ignition switch × C
D
E
1.CHECK SLIP INDICATOR LAMP OPERATION BRC

YES >> INSPECTION END G
H
(ABS)". I
YES >> GO TO 2 J
Check if the indication and operation of combination meter are normal. Refer to MWI-23, "Diagnosis Descrip- K
tion".
YES >> Replace ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and Installa- L
tion".
M

APPLICATION NOTICE
< ECU DIAGNOSIS > [TYPE 1]
ECU DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
A
Reference Value INFOID:0000000003081292
VALUES ON THE DIAGNOSIS TOOL B

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited. C
CONSULT-III MONITOR ITEM
Data monitor
Monitor item Display content Reference value in D
Condition
normal operation
0 [km/h (MPH)] Vehicle stopped
FR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running E
(± 10% or less) (Note 1)
FR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running BRC
RR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
G
H
RR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
When brake pedal is depressed ON
STOP LAMP SW Stop lamp switch signal status I
When brake pedal is released OFF
Battery voltage supplied to the ABS actuator
BATTERY VOLT Ignition switch ON 10 – 16 V
and electric unit (control unit)
J
1st gear 1
2nd gear 2
GEAR Gear position determined by TCM 3rd gear 3
4th gear 4 K
5th gear 5
P position P
SLCT LVR POSI A/T selector lever position
R position R L
N position N
D position D
VDC OFF switch ON M
ON
(When VDC OFF indicator lamp is ON)
OFF SW VDC OFF switch ON/OFF
VDC OFF switch OFF
OFF
(When VDC OFF indicator lamp is OFF)
N
Yaw rate detected by yaw rate/side/decel G When vehicle is stopped Approx. 0 d/s
YAW RATE SEN
sensor When vehicle turning −75 to 75 d/s
Accelerator pedal not depressed (ignition
0%
O
Throttle actuator opening/closing is dis- switch is ON)
ACCEL POS SIG
played (linked with accelerator pedal) Accelerator pedal depressed (ignition
0 - 100 %
switch is ON)
P
Vehicle stopped Approx. 0 m/s2
Negative value
Vehicle turning right
SIDE G-SENSOR Transverse G detected by side G sensor (m/s2)
Positive value
Vehicle turning left
(m/s2)

Data monitor
Monitor item Display content Reference value in
Condition
normal operation
Steering angle detected by steering angle Straight-ahead Approx. 0°

STR ANGLE SIG
sensor Steering wheel turned –720 to 720°
With engine stopped 0 rpm
ENGINE SPEED With engine running Almost in accor-

Engine running dance with tachome-
ter display
When brake fluid level switch ON ON
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF OFF
Actuator (solenoid valve) is active (“AC-
TIVE TEST” with CONSULT-III) or actua- ON
tor relay is inactive (in fail-safe mode)
FR RH IN SOL Operation status of each solenoid valve
When the actuator (solenoid valve) is not
active and actuator relay is active (igni- OFF
tion switch ON)
FR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
FR LH IN SOL Operation status of each solenoid valve
tion switch ON)
FR LH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR RH IN SOL Operation status of each solenoid valve
tion switch ON)
RR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR LH IN SOL Operation status of each solenoid valve
tion switch ON)

Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
TIVE TEST” with CONSULT-III) or actua- ON B
RR LH OUT SOL Operation status of each solenoid valve
active and actuator relay is active (igni- OFF C
tion switch ON)
When the motor relay and motor are op-
ON
erating D
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
OFF
operating
When the actuator relay is operating ON E
ACTUATOR RLY Actuator relay operation
When the actuator relay is not operating OFF
ABS warning lamp When ABS warning lamp is ON ON

ABS WARN LAMP BRC
(Note 3) When ABS warning lamp is OFF OFF
VDC OFF indicator lamp When VDC OFF indicator lamp is ON ON

OFF LAMP
(Note 3) When VDC OFF indicator lamp is OFF OFF
G
SLIP indicator lamp When SLIP indicator lamp is ON ON
SLIP LAMP
(Note 3) When SLIP indicator lamp is OFF OFF
When transfer control unit is in fail-safe H
4WD FAIL REQ ON
Transfer control unit fail-safe signal mode
(Note 2)
When transfer control unit is normal OFF
EBD is active ON I
EBD SIGNAL EBD operation
EBD is inactive OFF
ABS is active ON
ABS SIGNAL ABS operation J
ABS is inactive OFF
TCS is active ON
TCS SIGNAL TCS operation
TCS is inactive OFF K
VDC is active ON
VDC SIGNAL VDC operation
VDC is inactive OFF
L
In EBD fail-safe ON
EBD FAIL SIG EBD fail-safe signal
EBD is normal OFF
In ABS fail-safe ON M
ABS FAIL SIG ABS fail-safe signal
ABS is normal OFF
In TCS fail-safe ON
TCS FAIL SIG TCS fail-safe signal N
TCS is normal OFF
In VDC fail-safe ON
VDC FAIL SIG VDC fail-safe signal
VDC is normal OFF O
Crank is active ON
CRANKING SIG Crank operation
Crank is inactive OFF
When actuator (switch-over valve) is ac-
P
tive (“ACTIVE TEST” with CONSULT-III)
ON
or actuator relay is inactive (when in fail-
CV1 VDC switch-over valve safe mode)
When actuator (switch-over valve) is not
tion switch ON)

Data monitor
Condition
normal operation
ON
tion switch ON)
ON
SV1 VDC switch-over valve safe mode)
tion switch ON)
ON
tion switch ON)
Longitudinal acceleration detected by Decel Vehicle stopped Approx. 0 G

DECEL G-SEN
G-Sensor Vehicle running -1.7 to 1.7 G
EBD warning lamp When EBD warning lamp is ON ON

EBD WARN LAMP
(Note 3) When EBD warning lamp is OFF OFF
A/T shift position = N position ON
N POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than N position OFF
A/T shift position = P position ON
P POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than P position OFF
A/T shift position = R position ON
R POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than R position OFF
2WD model 2WD
2WD/4WD Drive axle
4WD model 4WD
NOTE:
• 1: Confirm tire pressure is normal.
• 2: Only 4WD models.
• 3: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-76, "Description".
- Brake warning lamp: Refer to BRC-77, "Description".
- VDC OFF indicator lamp: Refer to BRC-78, "Description".
- SLIP indicator lamp: Refer to BRC-79, "Description".

TERMINAL LAYOUT
A
AWFIA0032ZZ
BRC

Wiring Diagram - Without Hill Descent Control/Hill Start Assist INFOID:0000000003081293
AWFWA0045GB

BRC
AWFWA0046GB

AWFIA0169GB

BRC
AWFIA0170GB

AWFIA0171GB

BRC
AWFIA0172GB

AWFIA0173GB

BRC
AWFIA0174GB
P
Fail-Safe INFOID:0000000003081295
CAUTION:
If the Fail-Safe function is activated, perform Self Diagnosis for ABS/TCS/VDC system.
ABS/EBD SYSTEM

In case of an electrical malfunction with the ABS, the ABS warning lamp, VDC OFF indicator lamp and SLIP
indicator lamp will turn on. In case of an electrical malfunction with the EBD system, the BRAKE warning lamp,
ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp will turn on.
The system will revert to one of the following conditions of the Fail-Safe function.
1. For ABS malfunction, only the EBD is operative and the condition of the vehicle is the same condition of
vehicles without ABS/TCS/VDC system.
2. For EBD malfunction, the EBD and ABS become inoperative, and the condition of the vehicle is the same
as the condition of vehicles without ABS/TCS/VDC or EBD system.
VDC/TCS SYSTEM
In case of TCS/VDC system malfunction, the VDC OFF indicator lamp and SLIP indicator lamp are turned on
and the condition of the vehicle is the same as the condition of vehicles without TCS/VDC system. In case of
an electrical malfunction with the TCS/VDC system, the ABS control continues to operate normally without
TCS/VDC control.
DTC No. Index INFOID:0000000003081296
DTC Items (CONSULT screen terms) Reference

C1109 BATTERY VOLTAGE [ABNORMAL] BRC-35, "Description"
C1110 CONTROLLER FAILURE BRC-37, "DTC Logic"
C1111 PUMP MOTOR BRC-38, "Description"
C1113 G-SENSOR BRC-40, "Description"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-43, "Description"
C1116 STOP LAMP SW BRC-46, "Description"
C1120 FR LH IN ABS SOL BRC-48, "Description"
C1121 FR LH OUT ABS SOL BRC-51, "Description"
C1122 FR RH IN ABS SOL BRC-48, "Description"
C1123 FR RH OUT ABS SOL BRC-51, "Description"
C1124 RR LH IN ABS SOL BRC-48, "Description"
C1125 RR LH OUT ABS SOL BRC-51, "Description"
C1126 RR RH IN ABS SOL BRC-48, "Description"
C1127 RR RH OUT ABS SOL BRC-51, "Description"
C1132 ENGINE SIGNAL 3 BRC-54, "Description"
C1140 ACTUATOR RLY BRC-56, "Description"
C1144 ST ANG SEN SIGNAL

A
C1155 BR FLUID LEVEL LOW BRC-63, "Description" B
C1156 ST ANG SEN COM CIR BRC-66, "Description"
C1160 DECEL G SEN SET BRC-67, "Description"
C1163 ST ANGL SEN SAFE BRC-68, "Description" C
C1164 CV1
C1165 CV2
BRC-69, "Description" D
C1166 SV1
C1167 SV2
C1170 VARIANT CODING BRC-37, "DTC Logic" E
U1000 CAN COMM CIRCUIT BRC-73, "Description"
BRC

APPLICATION NOTICE
< SYMPTOM DIAGNOSIS > [TYPE 1]
SYMPTOM DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

VDC/TCS/ABS
VDC/TCS/ABS
A
Symptom Table INFOID:0000000003081298
If ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp turn ON, perform self-diagnosis. B
Symptom Check item Reference

Brake force distribution C
Excessive ABS function operation fre- BRC-98, "Diagno-
Looseness of front and rear axle
quency sis Procedure"
Wheel sensor and rotor system
Brake pedal stroke D
BRC-99, "Diagno-
Unexpected pedal reaction
Make sure the braking force is sufficient when the ABS is not operating. sis Procedure"
BRC-100, "Diag-
The braking distance is long Check stopping distance when the ABS is not operating.
nosis Procedure"
E
BRC-101, "Diag-
ABS function does not operate (Note 1) ABS actuator and electric unit (control unit)
nosis Procedure"
BRC
Pedal vibration or ABS operation sound Brake pedal BRC-102, "Diag-
occurs (Note 2) ABS actuator and electric unit (control unit) nosis Procedure"
ABS actuator and electric unit (control unit) G

Vehicle jerks during VDC/TCS/ABS con- BRC-103, "Diag-
TCM
trol nosis Procedure"
ECM
NOTE:
H
• 1: The ABS does not operate when the speed is 10 km/h (6 MPH) or less.
• 2: Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly depressed. However, this is normal.
- When shifting gears I
- When driving on slippery road
- During cornering at high speed
- When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more] J
- When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]

EXCESSIVE ABS FUNCTION OPERATION FREQUENCY
1.CHECK START
Check front and rear brake force distribution using a brake tester.
YES >> GO TO 2
NO >> Check brake system.
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles. Refer to front: FAX-5, "On-Vehicle
Inspection and Service", Rear: RAX-8, "Rear Axle Bearing" (C200) or RAX-20, "Rear Axle Bearing" (M226).
YES >> GO TO 3
3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4
NO >> • Replace wheel sensor or sensor rotor. Refer to BRC-109, "Removal and Installation".
• Repair harness.
4.CHECK ABS WARNING LAMP DISPLAY
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-23, "CONSULT-III Function (ABS)".
NO >> Normal

UNEXPECTED PEDAL REACTION
A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-7, "Inspection and Adjustment".
Is the stroke too large?
C
YES >> • Bleed air from brake tube and hose. Refer to BR-10, "Bleeding Brake System".
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc. Refer to BR-7, "Inspection and Adjustment" (brake pedal), BR-32, "Disas-
sembly and Assembly" (master cylinder), BR-24, "Removal and Installation" (brake booster). D
NO >> GO TO 2
2.CHECK FUNCTION
E
Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is
normal in this condition. Connect connector after inspection.
BRC
YES >> Normal

THE BRAKING DISTANCE IS LONG
CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
YES >> Normal

ABS FUNCTION DOES NOT OPERATE
A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
YES >> Normal
NO >> Perform self-diagnosis. Refer to BRC-23, "CONSULT-III Function (ABS)". D
BRC

PEDAL VIBRATION OR ABS OPERATION SOUND OCCURS
CAUTION:
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed. However, this is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
Do the operation noises occur?
YES >> GO TO 3
NO >> Perform self -diagnosis. Refer to BRC-23, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
NO >> Normal

VEHICLE JERKS DURING VDC/TCS/ABS CONTROL
A
1.SYMPTOM CHECK B
Check if the vehicle jerks during VDC/TCS/ABS control.
C
YES >> Normal.
NO >> GO TO 2
2.CHECK SELF-DIAGNOSIS RESULTS D
Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-23, "CONSULT-III Func-
tion (ABS)".
Are self-diagnosis results indicated? E
YES >> Check corresponding items, make repairs, and perform ABS actuator and electric unit (control
unit) self-diagnosis.
NO >> GO TO 3 BRC
3. CHECK CONNECTOR
• Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector and check
terminal for deformation, disconnection, looseness, etc. G
• Securely connect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis.
Are self-diagnosis results indicated?
YES >> If poor contact, damage, open or short circuit of connector terminal is found, repair or replace. H
NO >> GO TO 4
4.CHECK ECM AND TCM SELF-DIAGNOSIS RESULTS
I
Perform ECM and TCM self-diagnosis.
YES >> Check the corresponding items. J
• TCM: Refer to TM-150, "CONSULT-III Function (TRANSMISSION)".
NO >> Replace ABS actuator and electric unit (control unit). Refer to BRC-111, "Removal and Installa-
tion". K

NORMAL OPERATING CONDITION
Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC, TCS or ABS is acti-
vated.
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the VDC,
snow-covered (fresh, deep snow) roads.
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or VDC is activated due to rapid acceleration or
sharp turn.
This is normal, and it is
The brake pedal vibrates and motor operation noises occur from the engine room, after the engine starts and
caused by the ABS op-
just after the vehicle starts.
eration check.
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
subject to strong shaking or large vibration, such as when the vehicle is rotating on a turntable or located on In this case, restart the
a ship while the engine is running. engine on a normal
road. If the normal con-
VDC may not operate normally or the ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp
dition is restored, there
may illuminate, when running on a special road that is extremely slanted (e.g. bank in a circuit course).
is no malfunction. At
A malfunction may occur in the yaw rate/side/decel G sensor system, when the vehicle turns sharply, such that time, erase the self-
as during a spin turn, axle turn, or drift driving, while the VDC function is off (VDC OFF indicator lamp illumi- diagnosis memory.
nated).
Normal (Deactivate the
VDC/TCS function be-
The vehicle speed will not increase even though the accelerator pedal is depressed, when inspecting the
fore performing an in-
speedometer on a 2-wheel chassis dynamometer.
spection on a chassis
dynamometer.)
This is not a VDC sys-
VDC OFF indicator lamp and SLIP indicator lamp may simultaneously turn on when low tire pressure warn- tem error but results
ing lamp turns on. from characteristic
change of tire.

PRECAUTIONS
< PRECAUTION > [TYPE 1]
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000003081306
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Information necessary to service the system safely is included in the SR and SB section of this Service Man-
ual.
WARNING: E
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
BRC
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this G
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
Precaution for Brake System INFOID:0000000003081307
H
CAUTION:
• Refer to MA-10, "Fluids and Lubricants" for recommended brake fluid. I
• Never reuse drained brake fluid.
• Be careful not to splash brake fluid on painted areas; it may cause paint damage. If brake fluid is
splashed on painted areas, wash it away with water immediately.
• To clean or wash all parts of master cylinder and disc brake caliper, use clean brake fluid. J
• Never use mineral oils such as gasoline or kerosene. They will ruin rubber parts of the hydraulic sys-
tem.
• Use flare nut wrench when removing and installing brake K
tube.
• If a brake fluid leak is found, the part must be disassembled
without fail. Then it has to be replaced with a new one if a
L
defect exists.
• Turn the ignition switch OFF and remove the connector of the
ABS actuator and electric unit (control unit) or the battery ter-
minal before performing the work. M
• Always torque brake lines when installing.
• Burnish the brake contact surfaces after refinishing or replac-
ing rotors, after replacing pads, or if a soft pedal occurs at
SBR686C N
very low mileage.
Refer to BR-29, "Brake Burnishing" (front disc brake) or BR-31, "Brake Burnishing" (rear disc brake).
WARNING:
• Clean brake pads and shoes with a waste cloth, then wipe with a dust collector. O
Precaution for Brake Control INFOID:0000000003081308
P
• During ABS operation, the brake pedal may vibrate lightly and a mechanical noise may be heard. This is
normal.
• Just after starting vehicle, the brake pedal may vibrate or a motor operating noise may be heard from engine
compartment. This is a normal status of operation check.
• Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel, or

PRECAUTIONS
• When an error is indicated by ABS or another warning lamp, collect all necessary information from customer
(what symptoms are present under what conditions) and check for simple causes before starting diagnosis.
Besides electrical system inspection, check brake booster operation, brake fluid level, and fluid leaks.
• If incorrect tire sizes or types are installed on the vehicle or brake pads are not Genuine NISSAN parts, stop-
ping distance or steering stability may deteriorate.
• If there is a radio, antenna or related wiring near control module, ABS function may have a malfunction or
error.
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits or improper wiring.
• If the following components are replaced with non-genuine components or modified, the VDC OFF indicator
lamp and SLIP indicator lamp may turn on or the VDC system may not operate properly. Components
related to suspension (shock absorbers, struts, springs, bushings, etc.), tires, wheels (exclude specified
size), components related to brake system (pads, rotors, calipers, etc.), components related to engine (muf-
fler, ECM, etc.), components related to body reinforcement (roll bar, tower bar, etc.).
• Driving with broken or excessively worn suspension components, tires or brake system components may
cause the VDC OFF indicator lamp and the SLIP indicator lamp to turn on, and the VDC system may not
operate properly.
• When the TCS or VDC is activated by sudden acceleration or sudden turn, some noise may occur. The
noise is a result of the normal operation of the TCS and VDC.
• When driving on roads which have extreme slopes (such as mountainous roads) or high banks (such as
sharp curves on a freeway), the VDC may not operate normally, or the VDC warning lamp and the SLIP indi-
cator lamp may turn on. This is not a problem if normal operation can be resumed after restarting the engine.
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. with VDC turned off may cause the yaw
rate/side/decel G sensor to indicate a problem. This is not a problem if normal operation can be resumed
after restarting the engine.
• If battery is removed or steering angle sensor is disconnected, power to steering angle sensor is lost and the
screen goes into steering angle sensor safe mode.
• When screen goes into steering angle sensor safe mode, perform "Adjustment of Steering Angle Sensor
Neutral Position" with CONSUT-III and check that VDC OFF indicator turns off. Additionally, perform self-
diagnosis, check that only "Steering Angle Sensor Safe Mode" is shown for self-diagnostic result, and then
delete the memory. (If the self-diagnostic result shows an indication other than "Steering Angle Sensor Safe
Mode", repair the relevant part and restart self-diagnosis.) The steering angle sensor is released and returns
to normal condition by performing the above operation.
• When checking, if only "Steering Angle Sensor Safe Mode" is shown in the self-diagnostic result and VDC
OFF indicator is off, delete history of malfunction. This happens when battery power supply is lost and the
screen goes into Steering Angle Sensor Safe Mode, and then screen returns to normal mode automatically
by driving the vehicle in a straight forward direction [for approximately 30 seconds at 20 km/h (12 MPH) or
more] after power is supplied again.
NOTE:
VDC OFF indicator lamp is on when VDC OFF switch is on.
Precaution for CAN System INFOID:0000000003081309
• Do not apply voltage of 7.0V or higher to terminal to be measured.

• Maximum open terminal voltage of tester in use must be less than 7.0V.
• Before checking harnesses, turn ignition switch OFF and disconnect battery negative cable.
• Area to be repaired must be soldered and wrapped with tape.
Make sure that fraying of twisted wire is within 110 mm (4.33 in).
PKIA0306E

PRECAUTIONS
• Do not make a bypass connection to repaired area. (If the circuit is
bypassed, characteristics of twisted wire will be lost.) A
PKIA0307E
BRC

PREPARATION
< PREPARATION > [TYPE 1]
PREPARATION
PREPARATION
Special Service Tool INFOID:0000000003260906
The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.
Tool number Description

(Kent-Moore No.)
Tool name
— Checking operation of ABS active wheel
(J-45741) sensors
ABS active wheel sensor tester
WFIA0101E
ST30031000 Removing sensor rotor

( — )
Bearing puller
ZZA0700D
Commercial Service Tool INFOID:0000000003260907
Tool name Description

1. Flare nut crowfoot Removing and installing brake piping
2. Torque wrench a: 10 mm (0.39 in)/12 mm (0.47 in)
S-NT360

WHEEL SENSORS
< REMOVAL AND INSTALLATION > [TYPE 1]
REMOVAL AND INSTALLATION A

WHEEL SENSORS
Removal and Installation INFOID:0000000003260901
B
BRC
WFIA0339E
H
1. Front wheel sensor 2. Rear wheel sensor (C200) 3. Rear wheel sensor (M226)
REMOVAL
I
1. Remove wheel sensor bolt(s).
• When removing the front wheel sensor, first remove the disc rotor to gain access to the front wheel sen-
sor bolt. Refer to BR-28, "Removal and Installation of Brake Caliper and Disc Rotor".
J
2. Pull out the sensor, being careful to turn it as little as possible.
CAUTION:
• Be careful not to damage sensor edge and sensor rotor teeth.
• Do not pull on the sensor harness. K
3. Disconnect wheel sensor harness electrical connector, then remove harness from mounts.
INSTALLATION L
• Before installing wheel sensors,
- Inspect wheel sensor assembly and replace if damaged.
- Clean wheel sensor hole and mating surface with brake cleaner and a lint-free shop rag. Be careful that dirt
and debris do not enter the axle. M
- Install a new wheel sensor O-ring, then apply a coat of suitable grease to the O-ring and sensor hole. Refer
to MA-10.
• Installation is in the reverse order of removal. N

SENSOR ROTOR
SENSOR ROTOR
FRONT
The wheel sensor rotors are built into the wheel hubs and are not removable. If damaged, replace wheel hub
and bearing assembly. Refer to FAX-8, "Removal and Installation".
REAR
Removal
NOTE:
It is necessary to disassemble the rear axle to replace the sensor rotor.
1. Remove axle shaft assembly. Refer to RAX-9, "Removal and Installation" (C200), or RAX-21, "Removal
and Installation" (M226).
2. Pull the sensor rotor of off the axle shaft using Tool and a press.
Tool number : ST30031000 ( — )

Installation
1. Install new sensor rotor on axle shaft using a suitable length
steel tube and a press. Make sure sensor rotor is fully seated.
CAUTION:
Do not reuse the old sensor rotor.
2. Install axle shaft assembly. Refer to RAX-9, "Removal and
Installation" (C200), or RAX-21, "Removal and Installation"
(M226).
CAUTION:
Do not reuse the axle oil seal. The axle oil seal must be
replaced every time the axle shaft assembly is removed
from the axle shaft housing. WFIA0341E

ACTUATOR AND ELECTRIC UNIT (ASSEMBLY)
A
BRC
J
WFIA0389E
1. To rear left 2. To rear right 3. To front left K

4. To front right 5. From the master cylinder secondary 6. From the master cylinder primary
side side
7. ABS actuator and electric unit (con- 8. Harness connector 9. Grommet L
trol unit)
10. Collar
REMOVAL M
1. Disconnect the negative battery terminal.
2. Drain the brake fluid. Refer to BR-10, "Drain and Refill".
N
3. Disconnect the actuator harness from the ABS actuator and electric unit (control unit).
CAUTION:
• To remove the brake tubes, use a flare nut wrench to prevent the flare nuts and brake tubes from
being damaged. O
• Be careful not to splash brake fluid on painted areas.
4. Disconnect the brake tubes.
5. Remove three bolts and then the ABS actuator and electric unit (control unit). P
INSTALLATION
Installation is in the reverse order of removal.
CAUTION:
To install, use a flare nut wrench (commercial service tool).
• Always tighten brake tubes to specification when installing. Refer to BR-19.

• After installation of the ABS actuator and electric unit (control unit), refill brake system with new
brake fluid. Then bleed the air from the system. Refer to BR-10, "Bleeding Brake System".
NOTE:
If the ABS actuator and electric unit (control unit) is replaced, make sure to adjust position of steering angle
sensor. Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special
Repair Requirement".

STEERING ANGLE SENSOR
A
REMOVAL B
1. Remove spiral cable. Refer to SR-6, "Removal and Installation".
2. Remove the screws and remove the steering angle sensor.
C
CAUTION:
In the case that the ABS actuator and electronic unit (control unit) is replaced, make sure to adjust
position of steering angle sensor. Refer to BRC-12, "ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION : Special Repair Requirement". D
INSTALLATION
1. Installation is in the reverse order of removal.
E
BRC

G SENSOR
G SENSOR
REMOVAL
1. Remove center console. Refer to IP-10, "Exploded View".
2. Remove yaw rate/side/decel G sensor attaching nuts as shown.
• The location of the sensor is the same for all models.
CAUTION:
• Do not use power tools to remove or install yaw rate/side/
decel G sensor.
• Do not drop or strike the yaw rate/side/decel G sensor.
3. Disconnect harness connector and remove the yaw rate/side/
decel G sensor.
WFIA0230E
INSTALLATION
NOTE:
After performing the above work, calibrate the decel G sensor settings of the yaw rate/side/decel G sensor.
Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

APPLICATION NOTICE
BASIC INSPECTION A
APPLICATION NOTICE
B

C
TYPE 1 VDC/TCS/ABS
D
BRC

Work Flow INFOID:0000000003081318
PRECAUTIONS FOR DIAGNOSIS

If steering angle sensor, steering system parts, suspension system parts, ABS actuator and electric unit (con-
trol unit) or tires have been replaced, or if wheel alignment has been adjusted, be sure to adjust neutral posi-
tion of steering angle sensor before driving. Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE

OVERALL SEQUENCE
A
BRC
JSFIA0010GB
P
DETAILED FLOW
1.COLLECT THE INFORMATION FROM THE CUSTOMER
Get the detailed information from the customer about the symptom (the condition and the environment when
the incident/malfunction occurred) using the diagnosis worksheet. Refer to BRC-119, "Diagnostic Work
Sheet".

>> GO TO 2
2.PERFORM THE SELF-DIAGNOSIS
Check the DTC display with the self-diagnosis function. Refer to BRC-131, "CONSULT-III Function (ABS)".
Is there any DTC displayed?
YES >> GO TO 3
NO >> GO TO 4
3.PERFORM THE SYSTEM DIAGNOSIS
Perform the diagnosis applicable to the displayed DTC. Refer to BRC-200, "DTC No. Index".
>> GO TO 7
4.CHECK THE SYMPTOM THAT IS NOT CONSIDERED A SYSTEM MALFUNCTION
Check that the symptom is a normal operation that is not considered a system malfunction. Refer to BRC-210,
"Description".
Is the symptom a normal operation?
NO >> GO TO 5
5.CHECK THE WARNING LAMP AND INDICATOR LAMP FOR ILLUMINATION
Check that the warning lamp and indicator lamp illuminate.
• ABS warning lamp: Refer to BRC-184, "Description".
• Brake warning lamp: Refer to BRC-185, "Description".
• VDC OFF indicator lamp: Refer to BRC-186, "Description".
• SLIP indicator lamp: Refer to BRC-187, "Description".
Is ON/OFF timing normal?
YES >> GO TO 6
NO >> GO TO 2
6.PERFORM THE DIAGNOSIS BY SYMPTOM
Perform the diagnosis applicable to the symptom.
>> GO TO 7
7.REPAIR OR REPLACE THE MALFUNCTIONING PARTS
Repair or replace the specified malfunctioning parts.
>> GO TO 8
8.FINAL CHECK
Perform the self-diagnosis again, and check that the malfunction is repaired completely. After checking, erase
the self-diagnosis memory. Refer to BRC-131, "CONSULT-III Function (ABS)".
Is no other DTC present and the repair completed?
NO >> GO TO 3

Diagnostic Work Sheet INFOID:0000000003081319
BRC
H
SFIA3265E

ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Description
INFOID:0000000003081320
After replacing the ABS actuator and electric unit (control unit), perform the following procedures:
• Neutral position adjustment for the steering angle sensor
• Calibration of the decel G sensor
ADDITIONAL SERVICE WHEN REPLACING CONTROL UNIT : Special Repair Re-
quirement INFOID:0000000003081321
1.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR
Perform the neutral position adjustment for the steering angle sensor.
>> Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION :

Special Repair Requirement", GO TO 2
2.PERFORM CALIBRATION OF THE DECEL G SENSOR
Perform calibration of the decel G sensor.
>> Refer to BRC-121, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Description
INFOID:0000000003081322
Refer to the table below to determine if adjustment of steering angle sensor neutral position is required.
Situation Adjustment of steering angle sensor neutral position

Removing/Installing steering angle sensor ×
Replacing steering components ×
Tire rotation —
Adjusting wheel alignment ×
ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

pair Requirement INFOID:0000000003081323

CAUTION:
To adjust neutral position of steering angle sensor, make sure to use CONSULT-III
(Adjustment cannot be done without CONSULT-III)

>> GO TO 2
2.PERFORM THE NEUTRAL POSITION ADJUSTMENT FOR THE STEERING ANGLE SENSOR A
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “ST ANG SEN ADJUSTMENT” in order.
B
CAUTION:
Do not touch steering wheel while adjusting steering angle sensor.
NOTE: C
CAUTION:
D
>> GO TO 3 E
2. Select “DATA MONITOR”. Then make sure “STR ANGLE SIG” is within 0±2.5°. BRC
Is the steering angle within the specified range?
YES >> GO TO 4
NO >> Perform the neutral position adjustment for the steering angle sensor again, GO TO 1 G
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM. H
I
CALIBRATION OF DECEL G SENSOR J
CALIBRATION OF DECEL G SENSOR : Description INFOID:0000000003081324
Refer to the table below to determine if calibration of the decel G sensor is required. K
Situation Calibration of decel G sensor

L

Removing/Installing steering angle sensor × M
Replacing steering components × N
O
Tire rotation —
Adjusting wheel alignment × P
CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000003081325
CALIBRATION OF DECEL G SENSOR

CAUTION:
To calibrate the decel G sensor, make sure to use CONSULT-III
(Calibration cannot be done without CONSULT-III)


>> GO TO 2
2.PERFORM CALIBRATION OF DECEL G SENSOR
1. On the CONSULT-III screen, touch “WORK SUPPORT” and “DECEL G SEN CALIBRATION” in order.
NOTE:
CAUTION:
>> GO TO 3
2. Select “DATA MONITOR”. Then make sure “DECEL G SEN” is within ±.
YES >> GO TO 4
NO >> Perform calibration of decel G sensor again, GO TO 1
Erase the self-diagnosis memory of the ABS actuator and electric unit (control unit) and ECM.

APPLICATION NOTICE
FUNCTION DIAGNOSIS A
APPLICATION NOTICE
B

C
TYPE 1 VDC/TCS/ABS
D
BRC

VDC
VDC
AWFIA0200GB

VDC
HYDRAULIC CIRCUIT DIAGRAM
A
BRC
H
AWFIA0201GB
I
• Vehicle Dynamics Control system detects driver′s steering operation amount and brake pedal travel from
steering angle sensor. Using information from yaw rate/side/decel G sensor and wheel sensor, VDC judges
driving condition (conditions of under steer and over steer) to improve vehicle driving stability by controlling
brake application to 4 wheels and engine output. J
• During VDC operation, it informs driver of system operation by flashing SLIP indicator lamp.
K

VDC
Component Parts Location INFOID:0000000003081329
AWFIA0202GB
1. Front wheel sensor LH E18 2. Brake fluid level switch E21 3. ABS actuator and electric unit (control unit)
Front wheel sensor RH E117 E125
4. Hill descent control switch M155 5. Combination meter M24 6. Yaw rate/side/decel G sensor B73

VDC
7. Rear wheel sensor LH C11 8. Steering angle sensor (behind spiral ca- 9. VDC OFF switch M154
Rear wheel sensor RH C10 ble) M47 A
(Steering wheel removed for clarity)
10. Stop lamp switch E38
(Lower instrument panel LH re-
moved for clarity)
B
Component Description INFOID:0000000003081330
Component parts Reference

Pump D
Motor
Actuator relay BRC-164, "Description"
Solenoid valve BRC-156, "Description" E
VDC switch-over valve
(CV1, CV2, SV1, SV2)
BRC
Wheel sensor BRC-151, "Description"
Yaw rate/side/decel G sensor BRC-148, "Description"
Brake fluid level switch BRC-171, "Description" G
Steering angle sensor BRC-166, "Description"
Stop lamp switch BRC-154, "Description"
VDC OFF switch BRC-182, "Description" H
ABS warning lamp BRC-184, "Description"
Brake warning lamp BRC-185, "Description"
I
VDC OFF indicator lamp BRC-186, "Description"
SLIP indicator lamp BRC-187, "Description"
J

TCS
TCS
AWFIA0148GB
• Traction Control System is a function that electronically controls engine torque, brake fluid pressure and A/T
gear position to ensure the optimum slippage ratio at drive wheels by computing wheel speed signals from 4
wheel sensors. When ABS actuator and electric unit (control unit) detects a spin at drive wheels (rear
wheels), it compares wheel speed signals from all 4 wheels. At this time, LH and RH rear brake fluid pres-
sure are controlled, while fuel being cut to engine and throttle valve being closed to reduce engine torque by
the control unit. Further more, throttle position is continuously controlled to ensure the optimum engine
torque at all times.
• During TCS operation, it informs driver of system operation by flashing SLIP indicator lamp.

ABS
ABS
A
BRC
AWFIA0014GB
I
J
• Anti-Lock Braking System is a function that detects wheel revolution while braking, electronically controls
braking force, and prevents wheel locking during sudden braking. It improves handling stability and maneu-
verability for avoiding obstacles.
• Electrical system diagnosis by CONSULT-III is available. K

EBD
EBD
AWFIA0014GB
• Electric Brake force Distribution is a following function. ABS actuator and electric unit (control unit) detects
subtle slippages between the front and rear wheels during braking. Then it electronically controls the rear
braking force (brake fluid pressure) to reduce rear wheel slippage. Accordingly, it improves vehicle stability.

UNIT)]
A
UNIT)]
CONSULT-III Function (ABS) INFOID:0000000003081337
B
FUNCTION
CONSULT-III can display each diagnostic item using the diagnostic test modes shown following.
C
Diagnostic test mode Function
This mode enables a technician to adjust some devices faster and more accurately by following
Work support D
the indications on CONSULT-III.
Self-diagnostic results Self-diagnostic results can be read and erased quickly.
Data monitor Input/Output data in the ABS actuator and electric unit (control unit) can be read.
E
Diagnostic test mode is which CONSULT-III drives some actuators apart from the ABS actuator
Active test
and electric unit (control unit) and also shifts some parameters in a specified range.
ECU part number ABS actuator and electric unit (control unit) part number can be read.
BRC
CAN diagnostic support monitor The results of transmit/receive diagnosis of CAN communication can be read.
SELF-DIAG RESULTS MODE

G
Operation Procedure
1. Before performing the self-diagnosis, start engine and drive vehicle at 30 km/h (19 MPH) or more for
approximately 1 minute. H
How to Erase Self-diagnosis Results
1. After erasing DTC memory, start engine and drive vehicle at 30 km/h (19 MPH) or more for approximately
1 minute as the final inspection, and make sure that the ABS warning lamp, VDC OFF indicator lamp, I
SLIP indicator lamp and brake warning lamp turn OFF.
CAUTION:
If memory cannot be erased, perform applicable diagnosis. J
NOTE:
• When the wheel sensor malfunctions, after inspecting the wheel sensor system, the ABS warning lamp,
VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp will not turn OFF even when the
system is normal unless the vehicle is driving at approximately 30 km/h (19 MPH) or more for approxi- K
mately 1 minute.
• Brake warning lamp will turn ON in case of parking brake operation (when switch is ON) or of brake fluid
level switch operation (when brake fluid is insufficient). L
• VDC OFF switch should not stay “ON” position.
Display Item List
Refer to BRC-200, "DTC No. Index". M
DATA MONITOR MODE
Display Item List
N
Item
(Unit) O
Gear position judged by PNP switch
GEAR × × ×
signal is displayed.
P
FR RH SENSOR Wheel speed calculated by front RH
× × ×
FR LH SENSOR Wheel speed calculated by front LH
× × ×
RR RH SENSOR Wheel speed calculated by rear RH
× × ×

UNIT)]
Item
(Unit)
RR LH SENSOR Wheel speed calculated by rear LH
× × ×
Voltage supplied to ABS actuator
BATTERY VOLT
× × × and electric unit (control unit) is dis-
(V)
played.
N POSI SIG – – ×
signal.
P POSI SIG – – ×
signal.
Throttle valve open/close status
ACCEL POS SIG
× – × judged by CAN communication sig-
(%)
nal is displayed.
ENGINE SPEED Engine speed judged by CAN com-
× × ×
(rpm) munication signal is displayed.
STR ANGLE SIG Steering angle detected by steering
× – ×
(deg) angle sensor is displayed.
YAW RATE SEN Yaw rate detected by yaw rate sen-
× × ×
(d/s) sor is displayed.
SIDE G-SENSOR Transverse acceleration detected
× – ×
(m/s2) by side G-sensor is displayed.
STOP LAMP SW Stop lamp switch (ON/OFF) status
× × ×
OFF SW VDC OFF switch (ON/OFF) status
× × ×
ABS WARN LAMP ABS warning lamp (ON/OFF) status
– × ×
SLIP LAMP SLIP indicator lamp (ON/OFF) sta-
– × ×
(ON/OFF) tus is displayed.
FR LH IN SOL Front LH IN ABS solenoid (ON/
– × ×
FR LH OUT SOL Front LH OUT ABS solenoid (ON/
– × ×
RR RH IN SOL Rear RH IN ABS solenoid (ON/
– × ×
RR RH OUT SOL Rear RH OUT ABS solenoid (ON/
– × ×
FR RH IN SOL Front RH IN ABS solenoid (ON/
– × ×
FR RH OUT SOL Front RH OUT ABS solenoid (ON/
– × ×
RR LH IN SOL Rear LH IN ABS solenoid (ON/OFF)
– × ×
RR LH OUT SOL Rear LH OUT ABS solenoid (ON/
– × ×
OFF LAMP OFF Lamp (ON/OFF) status is dis-
– × ×
(ON/OFF) played.
MOTOR RELAY ABS motor relay signal (ON/OFF)
– × ×
ACTUATOR RLY ABS actuator relay signal (ON/OFF)
– × ×

UNIT)]
Item A
(Unit)
CV1 B
– – × valve (cut valve) (ON/OFF) status is
(ON/OFF)
displayed.
CV2
– – × valve (cut-valve) (ON/OFF) status is C
(ON/OFF)
displayed.
SV1
– – × valve (suction valve) (ON/OFF) sta- D
(ON/OFF)
tus is displayed.
SV2
– – × valve (suction valve) (ON/OFF) sta-
(ON/OFF) E
tus is displayed.
VDC FAIL SIG VDC fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS FAIL SIG TCS fail signal (ON/OFF) status is
BRC
– – ×
(ON/OFF) displayed.
ABS FAIL SIG ABS fail signal (ON/OFF) status is
– – × G
(ON/OFF) displayed.
EBD FAIL SIG EBD fail signal (ON/OFF) status is
– – ×
(ON/OFF) displayed.
FLUID LEV SW Brake fluid level switch (ON/OFF) H
× – ×
EBD SIGNAL EBD operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. I
ABS SIGNAL ABS operation (ON/OFF) status is
– – ×
(ON/OFF) displayed.
TCS SIGNAL TCS operation (ON/OFF) status is J
– – ×
(ON/OFF) displayed.
VDC SIGNAL VDC operation (ON/OFF) status is
– – ×
(ON/OFF) displayed. K
Brake warning lamp (ON/OFF) sta-
EBD WARN LAMP – – ×
tus is displayed.
Shift position judged by PNP switch L
SLCT LVR POSI × × ×
signal.
R POSI SIG – – ×
signal. M
It recognizes on software whether it
2WD/4WD – – × is 2WD and whether it is in 4WD
state.
N
The input state of the key SW
CRANKING SIG – – ×
START position signal is displayed.
O
status is displayed. “ON” indicates
RELEASE SW NO – – × that the brake pedal is depressed.
“OFF”“ is that the brake pedal is re-
leased. P
status is displayed. “OFF” indicates
RELEASE SW NC – – × that the brake pedal is depressed
on. “ON” is that the brake pedal is
released.
OHB FAIL – – × OHB fail status is displayed.
HBA FAIL – – × HBA fail status is displayed.

UNIT)]
Item
(Unit)
OHB operation (ON/OFF) status is
OHB SIG – – ×
displayed.
HBA operation (ON/OFF) status is
HBA SIG – – ×
displayed.
PRES CTRL ACC – – × This item is not used for this model.
PRES FAIL ACC – – × This item is not used for this model.
Stop lamp relay signal (ON/OFF)
STP OFF RLY – – ×
status is displayed.
×: Applicable
–: Not applicable
ACTIVE TEST MODE

CAUTION:
• Do not perform active test while driving vehicle.
• Make sure to completely bleed air from brake system.
• The active test cannot be performed with the ABS warning lamp, VDC OFF indicator lamp, SLIP indi-
cator lamp or brake warning lamp on.
• ABS warning lamp, VDC OFF indicator lamp, SLIP indicator lamp and brake warning lamp are on
during active test.
NOTE:
• When active test is performed while depressing the pedal, the pedal depression amount will change. This is
normal. (Only solenoid valve and ABS motor.)
• “TEST IS STOPPED” is displayed 10 seconds after operation start.
• After “TEST IS STOPPED” is displayed, to perform test again, touch BACK.
Test Item
SOLENOID VALVE
• When performing an active test of the ABS function, select the “MAIN SIGNALS” for each test item. In addi-
tion, when performing an active test of the VDC/TCS function, select the item menu for each test item.
• For ABS solenoid valve, touch “UP”, “KEEP”, and “DOWN” on the display screen. For ABS solenoid valve
(ACT), touch “UP”, “ACT UP”, “ACT KEEP” and confirm that solenoid valves operate as shown in the table
below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL

UNIT)]
ABS MOTOR
• Touch “ON” and “OFF” on screen. Make sure motor relay and actuator relay operates as shown in table A
below.
Operation ON OFF B
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON
C
BRC

APPLICATION NOTICE
COMPONENT DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

A
C
DTC DETECTION LOGIC

Circuit of rear RH wheel sensor is open. Or when the sen-
sor power voltage is outside the standard.
Circuit of rear LH wheel sensor is open. Or when the sen- • Harness or connector E
sor power voltage is outside the standard. • Wheel sensor
Circuit of front RH wheel sensor is open. Or when the • ABS actuator and electric unit
C1103 FR RH SENSOR-1 (control unit)
sensor power voltage is outside the standard. BRC
Circuit of front LH wheel sensor is open. Or when the
sensor power voltage is outside the standard.

RR RH SENSOR-1 I
RR LH SENSOR-1
FR RH SENSOR-1
J
FR LH SENSOR-1
L
CAUTION:
M
Disconnect the ABS actuator and electric unit (control unit) connector and wheel sensor of malfunctioning N
code.
Is the inspection result normal? O
YES >> GO TO 2
2.CHECK WHEEL SENSOR OUTPUT SIGNAL P
NOTE:
NOTE:
retest.
YES >> GO TO 3
3.CHECK TIRES
YES >> GO TO 4
"Rear Axle Bearing" (C200 rear), or RAX-20, "Rear Axle Bearing" (M226 rear).
YES >> GO TO 5
"Removal and Installation" (C200 rear), or RAX-25, "Removal and Installation" (M226 rear).
minals and ground.

YES >> GO TO 6
AWFIA0188ZZ

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
lation".

A
SOR”, and check the vehicle speed. B

C
FR LH SENSOR
RR LH SENSOR play (±10% or less) D
RR RH SENSOR
E
Special Repair Requirement INFOID:0000000003081343 BRC

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator G
H
>> GO TO 2
I
J
>> END

When the sensor rotor rotates, the magnetic field changes. It converts the magnetic field changes to current
DTC DETECTION LOGIC

When the circuit in the rear RH wheel sensor is short-cir-
When the circuit in the rear LH wheel sensor is short-cir-
and sensor rotor is too large and the sensor pulse cannot • Harness or connector
be recognized by the control unit. • Wheel sensor
When the circuit in the front RH wheel sensor is short-cir- • ABS actuator and electric unit
cuited. Or when the distance between the wheel sensor (control unit)
When the circuit in the front LH wheel sensor is short-cir-

RR RH SENSOR-2
RR LH SENSOR-2
FR RH SENSOR-2
FR LH SENSOR-2
CAUTION:
code.
YES >> GO TO 2

2.CHECK WHEEL SENSOR OUTPUT SIGNAL A

NOTE:
B
sensor tester. The red SENSOR indicator should flash on and off to indicate an output signal. C
NOTE:
retest.
D
YES >> GO TO 3
NO >> Replace the wheel sensor. Refer to BRC-216, "Removal and Installation". E
3.CHECK TIRES
Are tire pressure and size correct and is tire wear within specifications? BRC
YES >> GO TO 4
G
"Rear Axle Bearing" (C200 rear), or RAX-20, "Rear Axle Bearing" (M226 rear). H
YES >> GO TO 5
NO >> Repair or replace as necessary. Refer to FAX-8, "Removal and Installation" (front), RAX-14, I
1. Disconnect ABS actuator and electric unit (control unit) connec- J
minals and ground. K

YES >> GO TO 6
M
AWFIA0188ZZ

1. Check continuity between ABS actuator and electric unit (control unit) harness connector and the mal- N

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
lation".


FR LH SENSOR
RR RH SENSOR

>> GO TO 2
>> END

A
Supplies electric power to the ABS actuator and electric unit (control unit). B
DTC DETECTION LOGIC C

• Harness or connector D
BATTERY VOLTAGE When the ABS actuator and electric unit (control unit)
C1109 • ABS actuator and electric unit
[ABNORMAL] power supply voltage is lower than normal.
(control unit)
DTC CONFIRMATION PROCEDURE E

Check the self-diagnosis results. BRC
BATTERY VOLTAGE [ABNORMAL] G

YES >> Proceed to diagnosis procedure. Refer to BRC-143, "Diagnosis Procedure". H
I
1.CHECK CONNECTOR J
replace terminal. K
(ABS)".
Is any item indicated on the self-diagnosis display? L
YES >> GO TO 2
2.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) POWER SUPPLY CIRCUIT AND M
GROUND CIRCUIT
1. Turn ignition switch OFF. N
tor.
3. Turn ignition switch ON or OFF and check voltage between ABS
actuator and electric unit (control unit) harness connector termi- O
nal and ground.
ABS actuator and elec- P

tric unit (control unit) — Condition Voltage
Connector Terminal
AWFIA0189ZZ
Ignition switch: ON Battery voltage
E125 8 Ground
Ignition switch: OFF Approx. 0V


(control unit) — Continuity
Connector Terminal
AWFIA0016ZZ

YES >> Check battery for terminal looseness, low voltage, etc. If any malfunction is found, repair malfunc-
tioning parts.

and electric unit (control unit). Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU-
TRAL POSITION : Description".
>> GO TO 2
>> END

A
DTC DETECTION LOGIC B

When there is an internal malfunction in the ABS actuator C
C1110 CONTROLLER FAILURE • ABS actuator and electric unit
and electric unit (control unit).
(control unit)
C1170 VARIANT CODING In a case where VARIANT CODING is different.
D
Check the self-diagnosis results. E
BRC
CONTROLLER FAILURE
VARIANT CODING
Is above displayed on the self-diagnosis display? G
H
I
1.REPLACE ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT)
J
>> Replace ABS actuator and electric unit (control unit). Refer to BRC-218, "Removal and Installa-
tion".
K
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION L

M
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR N
O
>> END

PUMP
The pump returns the brake fluid stored in the reservoir to the master cylinder by reducing the pressure.
MOTOR
The motor drives the pump according to the signals transmitted by the ABS actuator and electric unit (control
unit).
DTC DETECTION LOGIC

During the actuator motor operating with ON, when the
actuator motor turns OFF, or when the control line for ac-
tuator motor relay is open. • Harness or connector
C1111 PUMP MOTOR • ABS actuator and electric unit
During the actuator motor operating with OFF, when the (control unit)
actuator motor turns ON, or when the control line for relay
is shorted to ground.

PUMP MOTOR
1.CHECK CONNECTOR
3. Check terminal for deformation, disconnect, looseness, and so on. If any malfunction is found, repair or
replace terminal.
(ABS)".
YES >> GO TO 2
2.CHECK ABS MOTOR AND MOTOR RELAY POWER SUPPLY CIRCUIT

tor.
3. Check voltage between the ABS actuator and electric unit (con-
trol unit) harness connector terminal and ground.
B

— Voltage
YES >> GO TO 3 D
3.CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) GROUND CIRCUIT E
BRC
— Continuity
Connector Terminal
H
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. On “ACTIVE TEST”, select “ABS MOTOR”. J
below.
K
Operation ON OFF
MOTOR RELAY ON OFF
ACTUATOR RLY ON ON L
M
N
and electric unit (control unit). Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU- O
>> GO TO 2 P
>> END

The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the
DTC DETECTION LOGIC

Longitudinal G-sensor is malfunctioning, or signal line of
C1113 G-SENSOR
longitudinal G-sensor is open or shorted.
Yaw rate sensor is malfunctioning, or the yaw rate sensor • ABS actuator and electric unit
signal line is open or shorted. (control unit)
Side G sensor is malfunctioning, or circuit of side G sen-
sor is open or shorted.

G-SENSOR
YAW RATE SENSOR
SIDE G-SEN CIRCUIT
CAUTION:
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. when VDC function is OFF may
cause the yaw rate/side/decel G sensor system to indicate a malfunction. This is not a malfunction if
normal operation can be resumed after restarting the engine.
• If vehicle is on turn table at entrance to parking garage, or on other moving surface, VDC OFF indica-
tor lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system mal-
function. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of
turn table or other moving surface, and start engine. Results will return to normal.
nector.
YES >> GO TO 2

Check continuity between the ABS actuator and electric unit (control
unit) connector E125 (A) terminals 18, 19, 22, 29 and the yaw rate/ A
side/decel G sensor connector B73 (B) terminals 2, 1, 3, 5.

Yaw rate/side/decel G sensor B
18 2 C
19 1
E125 (A) B73 (B) Yes
AWFIA0190ZZ
22 3
D
29 5
YES >> GO TO 3 E
BRC
1. Connect the yaw rate/side/decel G sensor connector M108 and ABS actuator and electric unit (control
unit) connector E125.
G
Vehicle condition
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G H
I
Is the inspection result normal? J
lation".
NO >> Replace the yaw rate/side/decel G sensor. Refer to BRC-221, "Removal and Installation". K
1.CHECK DATA MONITOR L

Select “YAW RATE SEN”, “SIDE G-SENSOR”, “DECEL G-SEN” in “DATA MONITOR” and check yaw rate/
side/decel G sensor signal.
M
Vehicle condition
Stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G N
O

>> GO TO 2
>> END

C1115 WHEEL SENSOR
C1115 WHEEL SENSOR
A
C
DTC DETECTION LOGIC

ABS SENSOR • Wheel sensor
C1115 When wheel sensor input signal is malfunctioning.
[ABNORMAL SIGNAL] • ABS actuator and electric unit E
(control unit)


G
ABS SENSOR [ABNORMAL SIGNAL]
I
CAUTION:
Do not check between wheel sensor terminals. J
1.CONNECTOR INSPECTION K
code.
Check the terminals for deformation, disconnection, looseness or damage. L
YES >> GO TO 2
NO >> Repair or replace as necessary. M
2.CHECK WHEEL SENSOR OUTPUT SIGNAL
1. Connect ABS active wheel sensor tester (J-45741) to wheel sensor using appropriate adapter. N
NOTE:
battery in the ABS active wheel sensor tester before proceeding. O
NOTE: P
retest.
YES >> GO TO 3
3.CHECK TIRES
C1115 WHEEL SENSOR
YES >> GO TO 4
"Rear Axle Bearing" (C200 rear), or RAX-20, "Rear Axle Bearing" (M226 rear).
YES >> GO TO 5
minals and ground.

YES >> GO TO 6
AWFIA0188ZZ

ABS actuator and

Wheel sensor
45 1
Front LH E18
46 2
34 1
Front RH E117
33 2
E125 Yes
36 1
Rear LH C11
37 2
43 1
Rear RH C10
42 2
lation".


C1115 WHEEL SENSOR
FR LH SENSOR
A
RR RH SENSOR B
NO >> Go to diagnosis procedure. Refer to BRC-151, "Diagnosis Procedure". C
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION D
E
>> GO TO 2 BRC
Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Description". G
>> END
H

The stop lamp switch transmits the stop lamp switch signal (ON/OFF) to the ABS actuator and electric unit
(control unit).
DTC DETECTION LOGIC

• Stop lamp switch
C1116 STOP LAMP SW When stop lamp switch circuit is open.
• ABS actuator and electric unit
(control unit)

STOP LAMP SW
1. Disconnect the ABS actuator and electric unit (control unit) connector and stop lamp switch connector.
YES >> GO TO 2
2.STOP LAMP SWITCH INSPECTION
1. Connect the stop lamp switch harness connector.
2. Check the voltage between the ABS actuator and electric unit
(control unit) harness connector E125 terminal 39 and body
ground.
Brake pedal depressed : Battery voltage

(approx. 12V)
Brake pedal not depressed : Approx. 0V
YES >> Perform self-diagnosis again. If the same results AWFIA0191ZZ
appear, replace ABS actuator and electric unit (control
unit). Refer to BRC-218, "Removal and Installation".
NO >> GO TO 3
3.STOP LAMP SWITCH CIRCUIT INSPECTION

1. Disconnect the stop lamp switch harness connector.
2. Check the continuity between the ABS actuator and electric unit A
(control unit) harness connector E125 (A) terminal 39 and stop
lamp switch harness connector E38 (B) terminal 2.
B
Continuity should exist.
YES >> Refer to EXL-4, "Work Flow". C
AWFIA0192ZZ
D
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION E

BRC
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR G
H
>> END

C1120, C1122, C1124, C1126 IN ABS SOL
C1120, C1122, C1124, C1126 IN ABS SOL
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig-
DTC DETECTION LOGIC

C1120 FR LH IN ABS SOL
LH inlet solenoid circuit.
C1122 FR RH IN ABS SOL
RH inlet solenoid circuit. • ABS actuator and electric unit
C1124 RR LH IN ABS SOL
inlet solenoid circuit.
C1126 RR RH IN ABS SOL
RH inlet solenoid circuit.

FR LH IN ABS SOL
FR RH IN ABS SOL
RR LH IN ABS SOL
RR RH IN ABS SOL
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2

C1120, C1122, C1124, C1126 IN ABS SOL
tor.
B

— Voltage
YES >> GO TO 3 D
3.CHECK SOLENOID, VDC SWITCH-OVER VALVE AND ACUATOR RELAY GROUND CIRCUIT E
BRC
— Continuity
Connector Terminal
H
AWFIA0016ZZ
I
1.CHECK ACTIVE TEST

1. Select each test menu item on ”ACTIVE TEST“. J
table below.
K
UP KEEP DOWN UP
TOR UP TOR KEEP
L
FR RH ABS SOLE-
M
FR LH ABS SOLE-
RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF N

RR RH ABS SOLE-
RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF O

RR LH ABS SOLE-

P
REAR SOL

C1120, C1122, C1124, C1126 IN ABS SOL

>> GO TO 2
>> END

C1121, C1123, C1125, C1127 OUT ABS SOL
C1121, C1123, C1125, C1127 OUT ABS SOL
A
The solenoid valve increases, holds or decreases the fluid pressure of each brake caliper according to the sig- B
C
DTC DETECTION LOGIC

C1121 FR LH OUT ABS SOL
LH outlet solenoid circuit.
When the control unit detects a malfunction in the front E
C1123 FR RH OUT ABS SOL
RH outlet solenoid circuit. • ABS actuator and electric unit
C1125 RR LH OUT ABS SOL
outlet solenoid circuit. BRC
C1127 RR RH OUT ABS SOL
RH outlet solenoid circuit.

FR LH OUT ABS SOL I
FR RH OUT ABS SOL
RR LH OUT ABS SOL
J
RR RH OUT ABS SOL
L
1.CHECK CONNECTOR M
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or N
replace terminal.
(ABS)".
O
YES >> GO TO 2
P

C1121, C1123, C1125, C1127 OUT ABS SOL
tor.

— Voltage
Connector Terminal
YES >> GO TO 3

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL

C1121, C1123, C1125, C1127 OUT ABS SOL
A
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION B

C
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR D
E
>> END
BRC

ABS actuator and electric unit (control unit) and ECM exchange the engine signal with CAN communication
line.
DTC DETECTION LOGIC

Based on the signal from ECM, ABS actuator and electric • ABS actuator and electric unit
C1132 ENGINE SIGNAL 3 unit (control unit) judges that engine fuel cut system is (control unit)
malfunctioning. • ECM
• CAN communication line

ENGINE SIGNAL 1
ENGINE SIGNAL 2
ENGINE SIGNAL 3
ENGINE SIGNAL 4
ENGINE SIGNAL 6
1.CHECK ENGINE SYSTEM
1. Perform ECM self-diagnosis. Repair or replace items indicated, then perform ECM self-diagnosis again.
Refer to EC-68, "CONSULT-III Function (ENGINE)".
2. Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-131, "CONSULT-III
Function (ABS)".
YES >> Repair or replace the affected part.

>> GO TO 2


B
>> END
BRC

C1140 ACTUATOR RLY
C1140 ACTUATOR RLY
Activates or deactivates each solenoid valve according to the signals transmitted by the ABS actuator and
electric unit (control unit).
DTC DETECTION LOGIC

C1140 ACTUATOR RLY ABS actuator relay or circuit malfunction. • ABS actuator and electric unit
(control unit)

ACTUATOR RLY
1.CHECK CONNECTOR
replace terminal.
(ABS)".
YES >> GO TO 2
tor.

— Voltage
Connector Terminal
YES >> GO TO 3
C1140 ACTUATOR RLY
unit) harness connector terminals and ground. A

— Continuity
Connector Terminal B
Is the inspection result normal? C
AWFIA0016ZZ
D
1.CHECK ACTIVE TEST E

1. On “ACTIVE TEST”, select “ABS MOTOR”.
below. BRC
Operation ON OFF
MOTOR RELAY ON OFF G
ACTUATOR RLY ON ON
Is the inspection result normal? H
Special Repair Requirement INFOID:0000000003081393 I

Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator J
K
>> GO TO 2
2.CALIBRATION OF DECEL G SENSOR L
M
>> END

DTC DETECTION LOGIC

Neutral position of steering angle sensor is dislocated, or • Harness or connector
the steering angle sensor is malfunctioning. • Steering angle sensor
• 4WAS control unit (4WAS
models)
C1144 ST ANG SEN SIGNAL Neutral position of steering angle sensor is not finished. • ABS actuator and electric unit
(control unit)

ST ANG SEN CIRCUIT
ST ANG SEN SIGNAL
1.CHECK CONNECTOR
3. Disconnect steering angle sensor connector.
replace terminal.
(ABS)"
YES >> GO TO 2
2.CHECK STEERING ANGLE SENSOR HARNESS

2. Disconnect steering angle sensor connector. A
3. Check continuity between steering angle sensor harness con-
nector terminal and ground.
B
— Continuity
Connector Terminal
M47 1 Ground Yes C
AWFIA0194ZZ
D
4. Turn ignition switch ON.
5. Check voltage between steering angle sensor harness connec-
tor terminal and ground. E

— Voltage
Connector Terminal BRC
M47 2 Ground Battery voltage
G
YES >> GO TO 3
AWFIA0195ZZ
3.CHECK DATA MONITOR H
1. Connect the steering angle sensor connector and ABS actuator and electric unit (control unit) connector.
2. Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
I
J

Is the inspection result normal? K
tion".
NO >> Replace steering angle sensor and adjust neutral position of steering angle sensor. Refer to BRC- L
221, "Removal and Installation".
M
Select “STR ANGLE SIG” in “DATA MONITOR” and check steering angle sensor signal.
N
O

>> GO TO 2
>> END

A
CAUTION: B
Sudden turns (such as spin turns, acceleration turns), drifting, etc. when VDC function is OFF may
cause the yaw rate/side/decel G sensor system to indicate a problem. This is not a problem if normal
operation can be resumed after restarting the engine.
C
Check self-diagnosis results. D
E
YAW RATE SENSOR
SIDE G-SEN CIRCUIT
G-SENSOR BRC
CAUTION:
If vehicle is on turntable at entrance to parking garage, or on other moving surface, VDC OFF indicator
lamp may illuminate and CONSULT-III self-diagnosis may indicate yaw rate sensor system malfunc- G
tion. However, in this case there is no malfunction in yaw rate sensor system. Take vehicle off of turn-
table or other moving surface, and start engine. Results will return to normal.
Is the above displayed in the self-diagnosis display items? H
YES >> GO TO 2.
2.CONNECTOR INSPECTION I
nector.
Check the terminals for deformation, disconnection, looseness or damage. J
YES >> GO TO 3.
NO >> Repair or replace as necessary. K
1. Turn off the ignition switch. L
2. Check continuity between the ABS actuator and electric unit (control unit) connector E125 and the yaw
rate/side/decel G sensor connector B73.
M
ABS actuator and electric unit Yaw rate/side/decel G sensor
(control unit) harness connector harness connector B73 Continuity
E125 N
18 2 Yes
19 1 Yes O
22 3 Yes
29 5 Yes
YES >> GO TO 4.
1. Connect the yaw rate/side/decel G sensor connector B73 and ABS actuator and electric unit (control unit)
connector E125.

Yaw rate sensor Side G sensor Decel G Sensor

Vehicle status
(Data monitor standard) (Data monitor standard) (Data monitor standard)
When stopped -4 to +4 deg/s -1.1 to +1.1 m/s -0.08 G to +0.08 G
Right turn Negative value Negative value -
Left turn Positive value Positive value -
YES >> Inspection End.
NO >> Replace the yaw rate/side/decel G sensor. Refer to BRC-221, "Removal and Installation".

A
The brake fluid level switch converts the brake fluid level to an electric signal and transmits it to the ABS actu- B
ator and electric unit (control unit).
C
DTC DETECTION LOGIC

Brake fluid level is low or communication line between • Harness or connector
C1155 BR FLUID LEVEL LOW the ABS actuator and electric unit (control unit) and brake • Brake fluid level switch
fluid level switch is open or shorted. • Brake fluid level E
Self-diagnosis results G
BR FLUID LEVEL LOW
H
Diagnosis Procedure INFOID:0000000003081407 I
1.CONNECTOR INSPECTION J
1. Disconnect ABS actuator and electric unit (control unit) connector and brake fluid level switch connector.
K
YES >> GO TO 2
L
2.CHECK HARNESS BETWEEN BRAKE FLUID LEVEL SWITCH AND ABS ACTUATOR AND ELECTRIC
UNIT (CONTROL UNIT)
1. Check continuity between ABS actuator and electric unit (control M
unit) harness connector E125 (A) Terminal 28 and brake fluid
level switch harness connector E21 (B) terminal 1.
N
Connector Terminal Connector Terminal O
E125 (A) 28 E21 (B) 1 Yes
unit) harness connector E125 (A) Terminal 28 and ground. AWFIA0196ZZ P

— Continuity
Connector Terminal

YES >> GO TO 3
3.CHECK BRAKE FLUID LEVEL SWITCH GROUND
Check continuity between brake fluid level switch harness connector
E21 terminal 2 and ground.

— Continuity
Connector Terminal
E21 2 Ground Yes
YES >> GO TO 4
AWFIA0026ZZ

Check continuity between brake fluid level switch terminals.

Terminal
No
voir tank.
1−2
Yes
reservoir tank.
ALFIA0026ZZ
appear, replace ABS actuator and electric unit (control unit). Refer to BRC-218, "Removal and
Installation".

2. Disconnect brake fluid level switch connector.
3. Check continuity between brake fluid level switch terminals.

Terminal
No
voir tank.
1−2
Yes
reservoir tank.
ALFIA0026ZZ


>> GO TO 2
B
>> END
C
BRC

The steering angle sensor is connected to the ABS actuator and electric unit (control unit) in addition to CAN
lines. CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle
multiplex communication line with high data communication speed and excellent error detection ability. Many
electronic control units are equipped onto a vehicle, and each control unit shares information and links with
other control units during operation (not independent). In CAN communication, control units are connected
with 2 communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less
wiring. Each control unit transmits/receives data but selectively reads required data only.
DTC DETECTION LOGIC

When steering angle sensor is not transmitting CAN • CAN communication line
C1156 ST ANG SEN COM CIR communication signal to the ABS actuator and electric • Steering angle sensor
unit (control unit). • ABS actuator and electric unit
(control unit)

ST ANG SEN COM CIR
1.CHECK CONNECTOR
1. Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector E125,
check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or
replace terminal.
2. Reconnect connector and perform self-diagnosis.
CAN COMM CIRCUIT
ST ANG SEN COM CIR
YES >> Refer to LAN-14, "Trouble Diagnosis Flow Chart".

A
The yaw rate/side/decel G sensor detects the yaw rate/side/decel G affecting the vehicle, and transmits the B
C
DTC DETECTION LOGIC

• Decel G sensor calibration
C1160 DECEL G SEN SET ABS decel G sensor adjustment is incomplete.
• ABS actuator and electric unit E
(control unit)


G
DECEL G SEN SET
I
INSPECTION PROCEDURE J
1.PERFORM SELF-DIAGNOSIS
K
DECEL G SEN SET
L
Do self-diagnosis results indicate anything other than shown above?
YES >> Perform repair or replacement for the item indicated.
NO >> Perform calibration of decel G sensor. Refer to BRC-121, "CALIBRATION OF DECEL G SENSOR M
: Description". GO TO 2
2.PERFORM SELF-DIAGNOSIS AGAIN
1. Turn the ignition switch to OFF and then to ON and erase self-diagnosis results. N
2. Perform ABS actuator and electric unit (control unit) self-diagnosis again.
Are any self-diagnosis results displayed?
O
YES >> Replace yaw rate/side/decel G sensor. Refer to BRC-221, "Removal and Installation".

DTC DETECTION LOGIC

• Adjust steering angle sensor
C1163 ST ANGL SEN SAFE When steering angle sensor is in safe mode.
neutral position

ST ANGL SEN SAFE
Adjust steering angle sensor neutral position. Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE
>> GO TO 2
2.INDICATOR LAMP CHECK
Check that VDC OFF indicator lamp is off.
Is VDC OFF indicator lamp off?
NO >> Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-131, "CON-
SULT-III Function (ABS)".

C1164, C1165, C1166, C1167 CV/SV SYSTEM
C1164, C1165, C1166, C1167 CV/SV SYSTEM
A
CV1, CV2 (CUT VALVE) B

The cut valve shuts off the normal brake fluid path from the master cylinder, when VDC/TCS is activated.
SV1, SV2 (SUCTION VALVE)
The suction valve supplies the brake fluid from the master cylinder to the pump, when VDC/TCS is activated. C
D
DTC DETECTION LOGIC
DTC Display item Malfunction detected condition Possible cause E

BRC
or shorted to the power supply or the ground. • Harness or connector
• ABS actuator and electric unit G
VDC switch-over solenoid valve (SV1) on the primary (control unit)
VDC switch-over solenoid valve (SV2) on the primary H
DTC CONFIRMATION PROCEDURE I

Check the self-diagnosis results. J
CV1 K
CV2
SV1
L
SV2
YES >> Proceed to diagnosis procedure. Refer to BRC-177, "Diagnosis Procedure". M
N
1.CHECK CONNECTOR O
3. Check terminal for deformation, disconnection, looseness, and so on. If any malfunction is found, repair or P
replace terminal.
(ABS)".
YES >> GO TO 2

C1164, C1165, C1166, C1167 CV/SV SYSTEM
tor.

— Voltage
Connector Terminal
YES >> GO TO 3

— Continuity
Connector Terminal
AWFIA0016ZZ
1.CHECK ACTIVE TEST

2. On the display, touch “UP”, “ACT UP”, and “ACT KEEP”, and check that the system operates as shown in
the table below.

UP KEEP DOWN UP
TOR UP TOR KEEP
FR RH ABS SOLE-

FR LH ABS SOLE-

RR RH ABS SOLE-

RR LH ABS SOLE-

REAR SOL

C1164, C1165, C1166, C1167 CV/SV SYSTEM
YES >> INSPECTION END A
B
Always perform neutral position adjustment for the steering angle sensor when replacing the ABS actuator C
D
>> GO TO 2
Always perform calibration of decel G sensor when replacing the ABS actuator and electric unit (control unit). E
>> END BRC

Check self-diagnosis results.
CONTROLLER FAILURE
VARIANT CODING
Is the above displayed in the self-diagnosis display items?
tion".

A
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul- B
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring. C
Each control unit transmits/receives data but selectively reads required data only.
D
DTC DETECTION LOGIC

E
When ABS actuator and electric unit (control unit) is not • CAN communication line
U1000 CAN COMM CIRCUIT transmitting or receiving CAN communication signal for 2 • ABS actuator and electric unit
seconds or more. (control unit) BRC
G
1.CHECK CONNECTOR
H
1. Turn ignition switch OFF, disconnect the ABS actuator and electric unit (control unit) connector, and check
the terminals for deformation, disconnection, looseness, and so on. If there is a malfunction, repair or
replace the terminal.
2. Reconnect connector and perform self-diagnosis. I
Is “CAN COMM CIRCUIT” displayed in self-diagnosis display items?
YES >> Print out the self-diagnostic results, and refer to LAN-14, "Trouble Diagnosis Flow Chart".
NO >> Connector terminal is loose, damaged, open, or shorted. J
1.ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION K
and electric unit (control unit). Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR NEU- L
>> GO TO 2 M
Refer to BRC-121, "CALIBRATION OF DECEL G SENSOR : Description". N
>> END
O

VDC OFF SWITCH
VDC OFF SWITCH
VDC OFF switch can deactivate (turn OFF) the VDC/TCS function by pressing the VDC OFF switch.
1.CHECK VDC OFF SWITCH OPERATION

Turn ON/OFF the VDC OFF switch and check that the VDC OFF indicator lamp in the combination meter turns
ON/OFF correctly.
Condition VDC OFF indicator lamp illumination status

VDC OFF switch: ON ON
VDC OFF switch: OFF OFF

VDC OFF switch

Terminal
1−2
PFIA0307E
YES >> GO TO 2
2.CHECK VDC OFF SWITCH HARNESS
tor.
unit) connector E125 (A) terminal 6 and VDC OFF switch con-
nector M154 (B) terminal 1.

VDC OFF switch
E125 (A) 6 M154 (B) 1 Yes
AWFIA0197ZZ

unit) connector E125 (A) terminal 6 and ground.

— Continuity
Connector Terminal
YES >> GO TO 3

VDC OFF SWITCH
3.CHECK VDC OFF SWITCH GROUND A
Check continuity between VDC OFF switch connector M154 and

ground.
B
VDC OFF switch

— Continuity
M154 2 Ground Yes
YES >> GO TO 4 D
AWFIA0031ZZ
4.CHECK COMBINATION METER E

tion".
Is the inspection result normal? BRC
tion".
NO >> Replace combination meter. Refer to MWI-90, "Removal and Installation". G
H
1. Turn ignition switch OFF. I
J
VDC OFF switch
Terminal
K
1−2
PFIA0307E
M

ABS WARNING LAMP
ABS WARNING LAMP
×: ON –: OFF
Condition ABS warning lamp

1.CHECK ABS WARNING LAMP OPERATION

(ABS)".
YES >> GO TO 2
tion".
tion".

BRAKE WARNING LAMP
BRAKE WARNING LAMP
A
×: ON –: OFF B
Condition Brake warning lamp (Note 1)
For 1 second after turning ON ignition switch × (Note 2) C
1 second later after turning ON ignition switch × (Note 2)
D
NOTE:
• 1: Brake warning lamp will turn on in case of parking brake operation (when switch is ON) or of brake fluid level switch operation
(when brake fluid is insufficient). E
• 2: After starting engine, brake warning lamp is turned off.
BRC
1.BRAKE WARNING LAMP OPERATION CHECK
G
H
1.CHECK SELF-DIAGNOSIS I
YES >> GO TO 2 J
2.CHECK COMBINATION METER K
tion".
tion".
NO >> Replace combination meter. Refer to MWI-90, "Removal and Installation". M

×: ON –: OFF
Condition VDC OFF indicator lamp

VDC OFF switch turned ON. (VDC function is OFF.) ×

YES >> GO TO 2
VDC OFF switch.

VDC OFF switch.
YES >> GO TO 2
(ABS)".
YES >> GO TO 3
tion".
tion".

SLIP INDICATOR LAMP
SLIP INDICATOR LAMP
A
×: ON –: OFF B
Condition SLIP indicator lamp
For 1 second after turning ON ignition switch × C
D
E
1.CHECK SLIP INDICATOR LAMP OPERATION BRC

YES >> INSPECTION END G
H
(ABS)". I
YES >> GO TO 2 J
Check if the indication and operation of combination meter are normal. Refer to MWI-23, "Diagnosis Descrip- K
tion".
YES >> Replace ABS actuator and electric unit (control unit). Refer to BRC-218, "Removal and Installa- L
tion".
M

APPLICATION NOTICE
ECU DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

A
Reference Value INFOID:0000000003081456
VALUES ON THE DIAGNOSIS TOOL B

CAUTION:
The display shows the control unit calculation data, so a normal value might be displayed even in the
event the output circuit (harness) is open or short-circuited. C
CONSULT-III MONITOR ITEM
Data monitor
Monitor item Display content Reference value in D
Condition
normal operation
FR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running E
FR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running BRC
RR LH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
G
H
RR RH SENSOR Wheel speed Nearly matches the speed meter display Vehicle running
When brake pedal is depressed ON
STOP LAMP SW Stop lamp switch signal status I
When brake pedal is released OFF
Battery voltage supplied to the ABS actuator
BATTERY VOLT Ignition switch ON 10 – 16 V
and electric unit (control unit)
J
1st gear 1
2nd gear 2
GEAR Gear position determined by TCM 3rd gear 3
4th gear 4 K
5th gear 5
P position P
SLCT LVR POSI A/T selector lever position
R position R L
N position N
D position D
VDC OFF switch ON M
ON
(When VDC OFF indicator lamp is ON)
OFF SW VDC OFF switch ON/OFF
VDC OFF switch OFF
OFF
(When VDC OFF indicator lamp is OFF)
N
Yaw rate detected by yaw rate/side/decel G When vehicle is stopped Approx. 0 d/s
YAW RATE SEN
sensor When vehicle turning −75 to 75 d/s
Accelerator pedal not depressed (ignition
0%
O
Throttle actuator opening/closing is dis- switch is ON)
ACCEL POS SIG
played (linked with accelerator pedal) Accelerator pedal depressed (ignition
0 - 100 %
switch is ON)
P
Vehicle stopped Approx. 0 m/s2
Negative value
Vehicle turning right
SIDE G-SENSOR Transverse G detected by side G sensor (m/s2)
Positive value
Vehicle turning left
(m/s2)

Data monitor
Condition
normal operation
Steering angle detected by steering angle Straight-ahead Approx. 0°

STR ANGLE SIG
sensor Steering wheel turned –720 to 720°
With engine stopped 0 rpm
ENGINE SPEED With engine running Almost in accor-

Engine running dance with tachome-
ter display
When brake fluid level switch ON ON
FLUID LEV SW Brake fluid level switch signal status
When brake fluid level switch OFF OFF
FR RH IN SOL Operation status of each solenoid valve
tion switch ON)
FR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
FR LH IN SOL Operation status of each solenoid valve
tion switch ON)
FR LH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR RH IN SOL Operation status of each solenoid valve
tion switch ON)
RR RH OUT SOL Operation status of each solenoid valve
tion switch ON)
RR LH IN SOL Operation status of each solenoid valve
tion switch ON)

Data monitor
Monitor item Display content A
Reference value in
Condition
normal operation
TIVE TEST” with CONSULT-III) or actua- ON B
RR LH OUT SOL Operation status of each solenoid valve
active and actuator relay is active (igni- OFF C
tion switch ON)
When the motor relay and motor are op-
ON
erating D
MOTOR RELAY Motor and motor relay operation
When the motor relay and motor are not
OFF
operating
When the actuator relay is operating ON E
ACTUATOR RLY Actuator relay operation
When the actuator relay is not operating OFF
ABS warning lamp When ABS warning lamp is ON ON

ABS WARN LAMP BRC
(Note 2) When ABS warning lamp is OFF OFF
VDC OFF indicator lamp When VDC OFF indicator lamp is ON ON

OFF LAMP
(Note 2) When VDC OFF indicator lamp is OFF OFF
G
SLIP indicator lamp When SLIP indicator lamp is ON ON
SLIP LAMP
(Note 2) When SLIP indicator lamp is OFF OFF
When transfer control unit is in fail-safe H
ON
4WD FAIL REQ Transfer control unit fail-safe signal mode
When transfer control unit is normal OFF
EBD is active ON I
EBD SIGNAL EBD operation
EBD is inactive OFF
ABS is active ON
ABS SIGNAL ABS operation J
ABS is inactive OFF
TCS is active ON
TCS SIGNAL TCS operation
TCS is inactive OFF K
VDC is active ON
VDC SIGNAL VDC operation
VDC is inactive OFF
L
In EBD fail-safe ON
EBD FAIL SIG EBD fail-safe signal
EBD is normal OFF
In ABS fail-safe ON M
ABS FAIL SIG ABS fail-safe signal
ABS is normal OFF
In TCS fail-safe ON
TCS FAIL SIG TCS fail-safe signal N
TCS is normal OFF
In VDC fail-safe ON
VDC FAIL SIG VDC fail-safe signal
VDC is normal OFF O
Crank is active ON
CRANKING SIG Crank operation
Crank is inactive OFF
P
ON
tion switch ON)

Data monitor
Condition
normal operation
ON
tion switch ON)
ON
tion switch ON)
ON
tion switch ON)
Longitudinal acceleration detected by Decel Vehicle stopped Approx. 0 G

DECEL G-SEN
G-Sensor Vehicle running -1.7 to 1.7 G
EBD warning lamp When EBD warning lamp is ON ON

EBD WARN LAMP
(Note 3) When EBD warning lamp is OFF OFF
A/T shift position = N position ON
N POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than N position OFF
A/T shift position = P position ON
P POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than P position OFF
A/T shift position = R position ON
R POSI SIG PNP switch signal ON/OFF condition
A/T shift position = other than R position OFF
2WD model 2WD
2WD/4WD Drive axle
4WD model 4WD
NOTE:
• 1: Confirm tire pressure is normal.
• 2: On and off timing for warning lamp and indicator lamp.
- ABS warning lamp: Refer to BRC-184, "Description".
- Brake warning lamp: Refer to BRC-185, "Description".
- VDC OFF indicator lamp: Refer to BRC-186, "Description".
- SLIP indicator lamp: Refer to BRC-187, "Description".
TERMINAL LAYOUT
AWFIA0032ZZ

Wiring Diagram - With Hill Descent Control/Hill Start Assist INFOID:0000000003081457
BRC
AWFWA0047GB
P

AWFWA0048GB

BRC
AWFIA0175GB

AWFIA0176GB

BRC
AWFIA0177GB

AWFIA0178GB

BRC
AWFIA0179GB
P
Fail-Safe INFOID:0000000003081458
CAUTION:
If the Fail-Safe function is activated, perform Self Diagnosis for ABS/TCS/VDC system.
ABS/EBD SYSTEM

In case of an electrical malfunction with the ABS, the ABS warning lamp, VDC OFF indicator lamp and SLIP
indicator lamp will turn on. In case of an electrical malfunction with the EBD system, the BRAKE warning lamp,
ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp will turn on.
The system will revert to one of the following conditions of the Fail-Safe function.
1. For ABS malfunction, only the EBD is operative and the condition of the vehicle is the same condition of
vehicles without ABS/TCS/VDC system.
2. For EBD malfunction, the EBD and ABS become inoperative, and the condition of the vehicle is the same
as the condition of vehicles without ABS/TCS/VDC or EBD system.
VDC/TCS SYSTEM
In case of TCS/VDC system malfunction, the VDC OFF indicator lamp and SLIP indicator lamp are turned on
and the condition of the vehicle is the same as the condition of vehicles without TCS/VDC system. In case of
an electrical malfunction with the TCS/VDC system, the ABS control continues to operate normally without
TCS/VDC control.
DTC No. Index INFOID:0000000003081459

C1109 BATTERY VOLTAGE [ABNORMAL] BRC-143, "Description"
C1110 CONTROLLER FAILURE BRC-145, "DTC Logic"
C1111 PUMP MOTOR BRC-146, "Description"
C1113 G-SENSOR BRC-148, "Description"
C1115 ABS SENSOR [ABNORMAL SIGNAL] BRC-151, "Description"
C1116 STOP LAMP SW BRC-154, "Description"
C1120 FR LH IN ABS SOL BRC-156, "Description"
C1121 FR LH OUT ABS SOL BRC-159, "Description"
C1122 FR RH IN ABS SOL BRC-156, "Description"
C1123 FR RH OUT ABS SOL BRC-159, "Description"
C1124 RR LH IN ABS SOL BRC-156, "Description"
C1125 RR LH OUT ABS SOL BRC-159, "Description"
C1126 RR RH IN ABS SOL BRC-156, "Description"
C1127 RR RH OUT ABS SOL BRC-159, "Description"
C1132 ENGINE SIGNAL 3 BRC-162, "Description"
C1140 ACTUATOR RLY BRC-164, "Description"
C1144 ST ANG SEN SIGNAL

A
C1155 BR FLUID LEVEL LOW BRC-171, "Description" B
C1156 ST ANG SEN COM CIR BRC-174, "Description"
C1160 DECEL G SEN SET BRC-175, "Description"
C1163 ST ANGL SEN SAFE BRC-176, "Description" C
C1164 CV1
C1165 CV2
BRC-177, "Description" D
C1166 SV1
C1167 SV2
C1170 VARIANT CODING BRC-145, "DTC Logic" E
U1000 CAN COMM CIRCUIT BRC-181, "Description"
BRC

APPLICATION NOTICE
SYMPTOM DIAGNOSIS
APPLICATION NOTICE

TYPE 1 VDC/TCS/ABS

VDC/TCS/ABS
VDC/TCS/ABS
A
Symptom Table INFOID:0000000003081461
If ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp turn ON, perform self-diagnosis. B
Symptom Check item Reference

Brake force distribution C
Excessive ABS function operation fre- BRC-204, "Diag-
Looseness of front and rear axle
quency nosis Procedure"
Wheel sensor and rotor system
Brake pedal stroke D
BRC-205, "Diag-
Unexpected pedal reaction
Make sure the braking force is sufficient when the ABS is not operating. nosis Procedure"
BRC-206, "Diag-
The braking distance is long Check stopping distance when the ABS is not operating.
nosis Procedure"
E
BRC-207, "Diag-
ABS function does not operate (Note 1) ABS actuator and electric unit (control unit)
nosis Procedure"
BRC
Pedal vibration or ABS operation sound Brake pedal BRC-208, "Diag-
occurs (Note 2) ABS actuator and electric unit (control unit) nosis Procedure"
ABS actuator and electric unit (control unit) G

Vehicle jerks during VDC/TCS/ABS con- BRC-209, "Diag-
TCM
trol nosis Procedure"
ECM
NOTE:
H
• 1: The ABS does not operate when the speed is 10 km/h (6 MPH) or less.
• 2: Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly depressed. However, this is normal.
- When shifting gears I
- When driving on slippery road
- During cornering at high speed
- When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more] J
- When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]

1.CHECK START
Check front and rear brake force distribution using a brake tester.
YES >> GO TO 2
2.CHECK FRONT AND REAR AXLE
Make sure that there is no excessive play in the front and rear axles. Refer to front: FAX-5, "On-Vehicle
Inspection and Service", Rear: RAX-8, "Rear Axle Bearing" (C200) or RAX-20, "Rear Axle Bearing" (M226).
YES >> GO TO 3
3.CHECK WHEEL SENSOR AND SENSOR ROTOR
Check the following.
• Wheel sensor installation for damage.
• Sensor rotor installation for damage.
• Wheel sensor connector connection.
• Wheel sensor harness inspection.
YES >> GO TO 4
NO >> • Replace wheel sensor or sensor rotor. Refer to BRC-216, "Removal and Installation".
• Repair harness.
Make sure that the ABS warning lamp is turned off after the ignition switch is turned ON or when driving.
Is the ABS warning lamp illuminated?
YES >> Perform self-diagnosis. Refer to BRC-131, "CONSULT-III Function (ABS)".
NO >> Normal

A
1.CHECK BRAKE PEDAL STROKE B

Check brake pedal stroke. Refer to BR-7, "Inspection and Adjustment".
Is the stroke too large?
C
YES >> • Bleed air from brake tube and hose. Refer to BR-10, "Bleeding Brake System".
• Check brake pedal, brake booster, and master cylinder for mount play, looseness, brake system
fluid leakage, etc. Refer to BR-7, "Inspection and Adjustment" (brake pedal), BR-32, "Disassem-
bly and Assembly" (master cylinder), BR-24, "Removal and Installation" (brake booster). D
NO >> GO TO 2
2.CHECK FUNCTION
E
Disconnect ABS actuator and electric unit (control unit) connector to deactivate ABS. Check if braking force is
normal in this condition. Connect connector after inspection.
BRC
YES >> Normal

CAUTION:
The stopping distance on slippery road surfaces might be longer with the ABS operating than when
the ABS is not operating.
1.CHECK FUNCTION
Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector to deactivate
ABS. In this condition, check stopping distance. After inspection, connect connector.
YES >> Normal

A
CAUTION: B
ABS does not operate when speed is 10 km/h (6 MPH) or lower.
Make sure that the ABS warning lamp turns OFF after ignition switch is turned ON or when driving. C
YES >> Normal
NO >> Perform self-diagnosis. Refer to BRC-131, "CONSULT-III Function (ABS)". D
BRC

CAUTION:
Under the following conditions, ABS is activated and vibration is felt when brake pedal is lightly
depressed. However, this is normal.
• When shifting gears
• When driving on slippery road
• During cornering at high speed
• When passing over bumps or grooves [at approximately 50 mm (1.97 in) or more]
• When pulling away just after starting engine [at approximately 10 km/h (6 MPH) or higher]
1.SYMPTOM CHECK 1
Check that there are pedal vibrations when the engine is started.
Do vibrations occur?
YES >> GO TO 2
NO >> Inspect the brake pedal.
2.SYMPTOM CHECK 2
Check that there are ABS operation noises when the engine is started.
Do the operation noises occur?
YES >> GO TO 3
NO >> Perform self -diagnosis. Refer to BRC-131, "CONSULT-III Function (ABS)".
3.SYMPTOM CHECK 3
Check symptoms when electrical component (headlamps, etc.) switches are operated.
Do symptoms occur?
YES >> Check if there is a radio, antenna, antenna lead wire, or wiring close to the control unit. If there is,
move it farther away.
NO >> Normal

A
1.SYMPTOM CHECK B
Check if the vehicle jerks during VDC/TCS/ABS control.
C
YES >> Normal.
NO >> GO TO 2
2.CHECK SELF-DIAGNOSIS RESULTS D
Perform self-diagnosis of ABS actuator and electric unit (control unit). Refer to BRC-131, "CONSULT-III Func-
tion (ABS)".
Are self-diagnosis results indicated? E
YES >> Check corresponding items, make repairs, and perform ABS actuator and electric unit (control
unit) self-diagnosis.
NO >> GO TO 3 BRC
3. CHECK CONNECTOR
• Turn ignition switch OFF and disconnect ABS actuator and electric unit (control unit) connector and check
terminal for deformation, disconnection, looseness, etc. G
• Securely connect connectors and perform ABS actuator and electric unit (control unit) self-diagnosis.
YES >> If poor contact, damage, open or short circuit of connector terminal is found, repair or replace. H
NO >> GO TO 4
4.CHECK ECM AND TCM SELF-DIAGNOSIS RESULTS
I
Perform ECM and TCM self-diagnosis.
YES >> Check the corresponding items. J
• TCM: Refer to TM-150, "CONSULT-III Function (TRANSMISSION)".
NO >> Replace ABS actuator and electric unit (control unit). Refer to BRC-218, "Removal and Installa-
tion". K

Symptom Result
Slight vibrations are felt on the brake pedal and the operation noises occur, when VDC, TCS or ABS is acti-
vated.
This is a normal condi-
Stopping distance is longer than that of vehicles without ABS when the vehicle drives on rough, gravel, or
tion due to the VDC,
TCS or ABS activation.
The brake pedal moves and generates noises, when TCS or VDC is activated due to rapid acceleration or
sharp turn.
This is normal, and it is
The brake pedal vibrates and motor operation noises occur from the engine room, after the engine starts and
caused by the ABS op-
just after the vehicle starts.
eration check.
Depending on the road conditions, the driver may experience a sluggish feel. This is normal, because
TCS places the highest
TCS may activate momentarily if wheel speed changes when driving over location where friction coefficient priority on the optimum
varies, when downshifting, or when fully depressing accelerator pedal. traction (stability).
The ABS warning lamp, VDC OFF indicator lamp and SLIP indicator lamp may turn ON when the vehicle is
subject to strong shaking or large vibration, such as when the vehicle is rotating on a turntable or located on In this case, restart the
a ship while the engine is running. engine on a normal
road. If the normal con-
VDC may not operate normally or the ABS warning lamp, VDC OFF indicator lamp, and SLIP indicator lamp
dition is restored, there
may illuminate, when running on a special road that is extremely slanted (e.g. bank in a circuit course).
is no malfunction. At
A malfunction may occur in the yaw rate/side/decel G sensor system, when the vehicle turns sharply, such that time, erase the self-
as during a spin turn, axle turn, or drift driving, while the VDC function is off (VDC OFF indicator lamp illumi- diagnosis memory.
nated).
Normal (Deactivate the
VDC/TCS function be-
The vehicle speed will not increase even though the accelerator pedal is depressed, when inspecting the
fore performing an in-
speedometer on a 2-wheel chassis dynamometer.
spection on a chassis
dynamometer.)
This is not a VDC sys-
VDC OFF indicator lamp and SLIP indicator lamp may simultaneously turn on when low tire pressure warn- tem error but results
ing lamp turns on. from characteristic
change of tire.

PRECAUTIONS
PRECAUTION A
PRECAUTIONS
Precaution for Supplemental Restraint System (SRS) "AIR BAG" and "SEAT BELT B
PRE-TENSIONER" INFOID:0000000003081469
The Supplemental Restraint System such as “AIR BAG” and “SEAT BELT PRE-TENSIONER”, used along C
with a front seat belt, helps to reduce the risk or severity of injury to the driver and front passenger for certain
types of collision. This system includes seat belt switch inputs and dual stage front air bag modules. The SRS
system uses the seat belt switches to determine the front air bag deployment, and may only deploy one front
air bag, depending on the severity of a collision and whether the front occupants are belted or unbelted. D
Information necessary to service the system safely is included in the SR and SB section of this Service Man-
ual.
WARNING: E
• To avoid rendering the SRS inoperative, which could increase the risk of personal injury or death in
the event of a collision which would result in air bag inflation, all maintenance must be performed by
an authorized NISSAN/INFINITI dealer.
BRC
• Improper maintenance, including incorrect removal and installation of the SRS, can lead to personal
injury caused by unintentional activation of the system. For removal of Spiral Cable and Air Bag
Module, see the SR section.
• Do not use electrical test equipment on any circuit related to the SRS unless instructed to in this G
Service Manual. SRS wiring harnesses can be identified by yellow and/or orange harnesses or har-
ness connectors.
Precaution for Brake System INFOID:0000000003081470
H
CAUTION:
• Refer to BR-10, "Drain and Refill" for recommended brake fluid. I
• Be careful not to splash brake fluid on painted areas; it may cause paint damage. If brake fluid is
splashed on painted areas, wash it away with water immediately.
• To clean or wash all parts of master cylinder and disc brake caliper, use clean brake fluid. J
• Never use mineral oils such as gasoline or kerosene. They will ruin rubber parts of the hydraulic sys-
tem.
• Use flare nut wrench when removing and installing brake K
tube.
• If a brake fluid leak is found, the part must be disassembled
without fail. Then it has to be replaced with a new one if a
L
defect exists.
• Turn the ignition switch OFF and remove the connector of the
ABS actuator and electric unit (control unit) or the battery ter-
minal before performing the work. M
• Always torque brake lines when installing.
• Burnish the brake contact surfaces after refinishing or replac-
ing rotors, after replacing pads, or if a soft pedal occurs at
SBR686C N
very low mileage.
Refer to BR-13, "Brake Burnishing" (front disc brake) or BR-16, "Brake Burnishing" (rear disc brake).
WARNING:
• Clean brake pads and shoes with a waste cloth, then wipe with a dust collector. O
Precaution for Brake Control INFOID:0000000003081471
P
• During ABS operation, the brake pedal may vibrate lightly and a mechanical noise may be heard. This is
normal.
• Just after starting vehicle, the brake pedal may vibrate or a motor operating noise may be heard from engine
compartment. This is a normal status of operation check.
• Stopping distance may be longer than that of vehicles without ABS when vehicle drives on rough, gravel, or

PRECAUTIONS
• When an error is indicated by ABS or another warning lamp, collect all necessary information from customer
(what symptoms are present under what conditions) and check for simple causes before starting diagnosis.
Besides electrical system inspection, check brake booster operation, brake fluid level, and fluid leaks.
• If incorrect tire sizes or types are installed on the vehicle or brake pads are not Genuine NISSAN parts, stop-
ping distance or steering stability may deteriorate.
• If there is a radio, antenna or related wiring near control module, ABS function may have a malfunction or
error.
• If aftermarket parts (car stereo, CD player, etc.) have been installed, check for incidents such as harness
pinches, open circuits or improper wiring.
• If the following components are replaced with non-genuine components or modified, the VDC OFF indicator
lamp and SLIP indicator lamp may turn on or the VDC system may not operate properly. Components
related to suspension (shock absorbers, struts, springs, bushings, etc.), tires, wheels (exclude specified
size), components related to brake system (pads, rotors, calipers, etc.), components related to engine (muf-
fler, ECM, etc.), components related to body reinforcement (roll bar, tower bar, etc.).
• Driving with broken or excessively worn suspension components, tires or brake system components may
cause the VDC OFF indicator lamp and the SLIP indicator lamp to turn on, and the VDC system may not
operate properly.
• When the TCS or VDC is activated by sudden acceleration or sudden turn, some noise may occur. The
noise is a result of the normal operation of the TCS and VDC.
• When driving on roads which have extreme slopes (such as mountainous roads) or high banks (such as
sharp curves on a freeway), the VDC may not operate normally, or the VDC warning lamp and the SLIP indi-
cator lamp may turn on. This is not a problem if normal operation can be resumed after restarting the engine.
• Sudden turns (such as spin turns, acceleration turns), drifting, etc. with VDC turned off may cause the yaw
rate/side/decel G sensor to indicate a problem. This is not a problem if normal operation can be resumed
after restarting the engine.
• If battery is removed or steering angle sensor is disconnected, power to steering angle sensor is lost and the
screen goes into steering angle sensor safe mode.
• When screen goes into steering angle sensor safe mode, perform "Adjustment of Steering Angle Sensor
Neutral Position" with CONSUT-III and check that VDC OFF indicator turns off. Additionally, perform self-
diagnosis, check that only "Steering Angle Sensor Safe Mode" is shown for self-diagnostic result, and then
delete the memory. (If the self-diagnostic result shows an indication other than "Steering Angle Sensor Safe
Mode", repair the relevant part and restart self-diagnosis.) The steering angle sensor is released and returns
to normal condition by performing the above operation.
• When checking, if only "Steering Angle Sensor Safe Mode" is shown in the self-diagnostic result and VDC
OFF indicator is off, delete history of malfunction. This happens when battery power supply is lost and the
screen goes into Steering Angle Sensor Safe Mode, and then screen returns to normal mode automatically
by driving the vehicle in a straight forward direction [for approximately 30 seconds at 20 km/h (12 MPH) or
more] after power is supplied again.
NOTE:
VDC OFF indicator lamp is on when VDC OFF switch is on.
Precaution for CAN System INFOID:0000000003081472
• Do not apply voltage of 7.0V or higher to terminal to be measured.

• Maximum open terminal voltage of tester in use must be less than 7.0V.
• Before checking harnesses, turn ignition switch OFF and disconnect battery negative cable.
• Area to be repaired must be soldered and wrapped with tape.
Make sure that fraying of twisted wire is within 110 mm (4.33 in).
PKIA0306E

PRECAUTIONS
• Do not make a bypass connection to repaired area. (If the circuit is
bypassed, characteristics of twisted wire will be lost.) A
PKIA0307E
BRC

PREPARATION
PREPARATION
PREPARATION
Special Service Tool INFOID:0000000003081473
The actual shapes of Kent-Moore tools may differ from those of special service tools illustrated here.
Tool number Description

(Kent-Moore No.)
Tool name
KV991J0080 Checking operation of ABS active wheel sen-
(J-45741) sors
ABS active wheel sensor tester
WFIA0101E
ST30031000 Removing sensor rotor

( — )
Bearing puller
ZZA0700D
ST30720000 Installing rear sensor rotor

(J-25405) a: 77 mm (0.03 in) dia.
Drift b: 55 mm (2.17 in) dia.
ZZA0701D
ST27863000 Installing rear sensor rotor

( — ) a: 75 mm (2.95 in) dia.
Drift b: 62 mm (2.44 in) dia.
ZZA0832D
KV40104710 Installing rear sensor rotor

( — ) a: 76 mm (2.99 in) dia.
Drift b: 68.5 mm (2.697 in) dia.
ZZA0832D

PREPARATION
Commercial Service Tool INFOID:0000000003081474
Tool name Description

1. Flare nut crowfoot Removing and installing brake piping B
2. Torque wrench a: 10 mm (0.39 in)/12 mm (0.47 in)
S-NT360 D
BRC

WHEEL SENSORS
REMOVAL AND INSTALLATION

WHEEL SENSORS
WFIA0405E
1. Front wheel sensor 2. Rear wheel sensor
REMOVAL
1. Remove wheel sensor bolt.
• When removing the front wheel sensor, first remove the disc rotor to gain access to the front wheel sen-
sor bolt. Refer to BR-28, "Removal and Installation of Brake Caliper and Disc Rotor".
2. Pull out the sensor, being careful to turn it as little as possible.
CAUTION:
• Be careful not to damage sensor edge and sensor rotor teeth.
• Do not pull on the sensor harness.
3. Disconnect wheel sensor harness electrical connector, then remove harness from mounts.
INSTALLATION
• Before installing wheel sensors,
- Inspect wheel sensor assembly and replace if damaged.
- Clean wheel sensor hole and mating surface with brake cleaner and a lint-free shop rag. Be careful that dirt
and debris do not enter the axle.
- Install a new wheel sensor O-ring, then apply a coat of suitable grease to the O-ring and sensor hole. Refer
to MA-10.
• Installation is in the reverse order of removal.

SENSOR ROTOR
SENSOR ROTOR
A
FRONT B
The wheel sensor rotors are built into the wheel hubs and are not removable. If damaged, replace wheel hub
and bearing assembly. Refer to FAX-8, "Removal and Installation".
REAR C
Removal
NOTE:
D
It is necessary to disassemble the rear axle to replace the sensor rotor.
1. Remove axle shaft assembly. Refer to RAX-9, "Removal and Installation" (C200), or RAX-21, "Removal
and Installation" (M226).
E
2. Pull the sensor rotor of off the axle shaft using Tool and a press.
Tool number : ST30031000 ( — )

BRC
Installation
1. Install new sensor rotor on axle shaft using a suitable length
steel tube and a press. Make sure sensor rotor is fully seated. G
CAUTION:
Do not reuse the old sensor rotor.
2. Install axle shaft assembly. Refer to RAX-9, "Removal and H
Installation" (C200), or RAX-21, "Removal and Installation"
(M226).
CAUTION:
I
Do not reuse the axle oil seal. The axle oil seal must be
replaced every time the axle shaft assembly is removed
from the axle shaft housing. WFIA0341E
J

WFIA0389E
1. To rear left 2. To rear right 3. To front left

4. To front right 5. From the master cylinder secondary 6. From the master cylinder primary
side side
7. ABS actuator and electric unit (con- 8. Harness connector 9. Grommet
trol unit)
10. Collar
REMOVAL
1. Disconnect the negative battery terminal.
2. Drain the brake fluid. Refer to BR-10, "Drain and Refill".
3. Disconnect the actuator harness from the ABS actuator and electric unit (control unit).
CAUTION:
• To remove the brake tubes, use a flare nut wrench to prevent the flare nuts and brake tubes from
being damaged.
• Be careful not to splash brake fluid on painted areas.
4. Disconnect the brake tubes.
5. Remove three bolts and then the ABS actuator and electric unit (control unit).
INSTALLATION
CAUTION:
To install, use a flare nut wrench (commercial service tool).
• Always tighten brake tubes to specification when installing. Refer to BR-19.

• After installation of the ABS actuator and electric unit (control unit), refill brake system with new
brake fluid. Then bleed the air from the system. Refer to BR-10, "Bleeding Brake System". A
NOTE:
If the ABS actuator and electric unit (control unit) is replaced, make sure to adjust position of steering angle
sensor. Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special
B
Repair Requirement" .
BRC

REMOVAL
1. Remove the spiral cable. Refer to SR-6, "Removal and Installation".
2. Remove the screws and remove the steering angle sensor.
CAUTION:
In the case that the ABS actuator and electronic unit (control unit) is replaced, make sure to adjust
position of steering angle sensor. Refer to BRC-120, "ADJUSTMENT OF STEERING ANGLE SENSOR
NEUTRAL POSITION : Special Repair Requirement".
INSTALLATION
1. Installation is in the reverse order of removal.

G SENSOR
G SENSOR
A
REMOVAL B
1. Remove center console. Refer to IP-10, "Exploded View".
2. Remove yaw rate/side/decel G sensor attaching nuts as shown.
• The location of the sensor is the same for all models. C
CAUTION:
• Do not use power tools to remove or install yaw rate/side/
decel G sensor. D
• Do not drop or strike the yaw rate/side/decel G sensor.
3. Disconnect harness connector and remove the yaw rate/side/
decel G sensor. E
WFIA0230E
BRC
INSTALLATION
NOTE:
G
After performing the above work, calibrate the decel G sensor settings of the yaw rate/side/decel G sensor.
Refer to BRC-121, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

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BRAKES

BASIC INSPECTION .................................... 7 TCS .................................................................... 20

Revision: July 2007 BRC-1 2008 Xterra

Revision: July 2007 BRC-2 2008 Xterra

SLIP INDICATOR LAMP ....................................79 PREPARATION ............................................... 108

Revision: July 2007 BRC-3 2008 Xterra

Revision: July 2007 BRC-4 2008 Xterra

C1164, C1165, C1166, C1167 CV/SV SYS- VDC/TCS/ABS ................................................ 203

Revision: July 2007 BRC-5 2008 Xterra

PREPARATION ............................................... 214 STEERING ANGLE SENSOR .......................... 220

Revision: July 2007 BRC-6 2008 Xterra

Service information Remarks

Revision: July 2007 BRC-7 2008 Xterra

PRECAUTIONS FOR DIAGNOSIS

Revision: July 2007 BRC-8 2008 Xterra

Revision: July 2007 BRC-9 2008 Xterra

2.PERFORM THE SELF-DIAGNOSIS

Revision: July 2007 BRC-10 2008 Xterra

Revision: July 2007 BRC-11 2008 Xterra

>> Refer to BRC-13, "CALIBRATION OF DECEL G SENSOR : Special Repair Requirement".

Situation Adjustment of steering angle sensor neutral position

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION : Special Re-

ADJUSTMENT OF STEERING ANGLE SENSOR NEUTRAL POSITION

Revision: July 2007 BRC-12 2008 Xterra

Situation Calibration of decel G sensor

Replacing ABS actuator and electric unit (control unit) ×

CALIBRATION OF DECEL G SENSOR : Special Repair Requirement INFOID:0000000003081161

CALIBRATION OF DECEL G SENSOR

Revision: July 2007 BRC-13 2008 Xterra

1.ALIGN THE VEHICLE STATUS

Revision: July 2007 BRC-14 2008 Xterra

Service information Remarks

Revision: July 2007 BRC-15 2008 Xterra

Revision: July 2007 BRC-16 2008 Xterra

System Description INFOID:0000000003081164

Revision: July 2007 BRC-17 2008 Xterra

Revision: July 2007 BRC-18 2008 Xterra

Component Description INFOID:0000000003081166

Component parts Reference

VDC OFF indicator lamp BRC-78, "Description"

Revision: July 2007 BRC-19 2008 Xterra

System Description INFOID:0000000003081168

Revision: July 2007 BRC-20 2008 Xterra

System Description INFOID:0000000003081170

Revision: July 2007 BRC-21 2008 Xterra

System Description INFOID:0000000003081172

Revision: July 2007 BRC-22 2008 Xterra

SELF-DIAG RESULTS MODE

Revision: July 2007 BRC-23 2008 Xterra

Revision: July 2007 BRC-24 2008 Xterra

Revision: July 2007 BRC-25 2008 Xterra

ACTIVE TEST MODE

ABS solenoid valve ABS solenoid valve (ACT)

FR LH SOL FR LH IN SOL OFF ON ON OFF OFF OFF

RR RH SOL RR RH IN SOL OFF ON ON OFF OFF OFF

RR LH SOL RR LH IN SOL OFF ON ON OFF OFF OFF

RR RH IN SOL OFF ON ON OFF OFF OFF

Revision: July 2007 BRC-26 2008 Xterra

Revision: July 2007 BRC-27 2008 Xterra

Service information Remarks

Revision: July 2007 BRC-28 2008 Xterra

DTC Display item Malfunction detected condition Possible cause D